4 Entities

ASAM OpenSCENARIO 1.2.0 Vehicle, Pedestrian, and MiscObject have corresponding types in ASAM OpenSCENARIO 2.0.0.

Entities Vehicle and Pedestrian are represented by structs of the same name but lowercase. MiscObject is represented by stationary_object.

Instead of instantiating a vehicle with a specific category, for example, a motorcycle, the vehicle category is constrained to be a motorcycle. It is good practice to constrain as few entity fields as possible, as this allows for a greater variations range and easier composition of scenarios.

Code 11. ASAM OpenSCENARIO 2.0.0
my_motorcycle: vehicle
keep (my_motorcycle.vehicle_category == vru_vehicle)
keep (my_motorcycle.axles.size() == 2)
keep (my_motorcycle.axles[0].number_of_wheels == 1)
keep (my_motorcycle.axles[1].number_of_wheels == 1)