Annex A: (normative) Action tables
| Action | Settings (time, space, domain) | Goal | Assigns longitudinal control strategy | Assigns lateral control strategy | Action ends |
|---|---|---|---|---|---|
AnimationAction |
animationType.animationFile containing a motion |
continuously perform a motion |
No |
No |
no regular ending |
AnimationAction |
animationType.animationFile containing an animation |
perform an animation |
No |
No |
after animationDuration |
AnimationAction |
animationType.pedestrianAnimation containing gestures |
continuously perform a gesture |
No |
No |
no regular ending |
AnimationAction |
animationType.pedestrianAnimation containing a motion |
continuously perform a motion |
No |
No |
no regular ending |
AnimationAction |
loop ="false" |
perform an animation |
No |
No |
after animationDuration |
AnimationAction |
loop = "true" |
continuously perform an animation |
No |
No |
no regular ending |
ControllerAction. ActivateControllerAction |
not applicable |
activate or deactivate controller |
No |
No |
immediately (does not consume simulation time) |
ControllerAction. AssignControllerAction |
not applicable |
assign a controller model (e.g. driver model) to a vehicle |
No |
No |
immediately (does not consume simulation time) |
ControllerAction. OverrideControllerValueAction. SteeringWheel |
active = "false" |
override lateral controls |
No |
No |
immediately (does not consume simulation time) |
ControllerAction. OverrideControllerValueAction. SteeringWheel |
active = "true" |
override lateral controls |
No |
Yes |
immediately (does not consume simulation time) |
ControllerAction. OverrideControllerValueAction. [throttle; brake; clutch; parkingBrake; gear] |
active = "false" |
deactivate overriding longitudinal controls |
No |
No |
immediately (does not consume simulation time) |
ControllerAction. OverrideControllerValueAction. [throttle; brake; clutch; parkingBrake; gear] |
active = "true" |
override longitudinal controls |
Yes |
No |
immediately (does not consume simulation time) |
LateralAction. LaneChangeAction |
not applicable |
reach a lane |
No |
Yes |
by reaching the lateral centerline offset on the target lane |
LateralAction. LaneOffsetAction |
continuous = "false" |
reach a lane offset |
No |
Yes |
by reaching the targeted lane offset |
LateralAction. LaneOffsetAction |
continuous = "true" |
reach and keep a lane offset |
No |
Yes |
no regular ending |
LateralAction. LateralDistanceAction |
continuous = "false" |
reach a lateral distance |
No |
Yes |
by reaching the targeted lateral distance |
LateralAction. LateralDistanceAction |
continuous = "true" |
reach and keep a lateral distance |
No |
Yes |
no regular ending |
LightStateAction. LightState |
mode = "flashing" |
make a flashing light |
No |
No |
no regular ending |
LightStateAction. LightState |
mode = "on" or "off" |
turn the light on or off |
No |
No |
after transitionTime (default 0) |
LongitudinalAction. LongitudinalDistanceAction |
continuous = "false" |
reach a longitudinal distance to another object |
Yes |
No |
by reaching the targeted distance |
LongitudinalAction. LongitudinalDistanceAction |
continuous = "true" |
reach and keep a longitudinal distance to another object |
Yes |
No |
no regular ending |
LongitudinalAction. SpeedAction. SpeedActionTarget |
absoluteTargetSpeed is set or relativeTargetSpeed.continuous = "false" |
reach a speed |
Yes |
No |
on reaching the speed |
LongitudinalAction. SpeedAction. SpeedActionTarget |
relativeTargetSpeed.continuous = "true" |
reach and keep a relative speed |
Yes |
No |
no regular ending |
LongitudinalAction. SpeedProfileAction |
not applicable |
reach a series of target speeds |
Yes |
No |
on reaching the target speed of the last SpeedProfileEntry |
RoutingAction. AcquirePositionAction |
not applicable |
use the specified position as routing target; i.e. a route with two waypoints is created: current position as first and specified position as last waypoint |
No |
No |
immediately (does not consume simulation time) |
RoutingAction. AssignRouteAction |
not applicable |
use a specific route as routing target |
No |
No |
immediately (does not consume simulation time) |
RoutingAction. FollowTrajectoryAction |
timeReference = "none"; trajectoryFollowingMode = "follow" |
use a specific trajectory as steering input for a controller; time information contained in the trajectory is ignored |
No |
Yes |
by reaching the end of the trajectory |
RoutingAction. FollowTrajectoryAction |
timeReference = "none"; trajectoryFollowingMode = "position" |
use a specific trajectory and move the actor along that trajectory with the current longitudinal control (e.g. speed keeping); time information contained in the trajectory is ignored |
No |
Yes |
by reaching the end of the trajectory |
RoutingAction. FollowTrajectoryAction |
timeReference = "timing"; trajectoryFollowingMode = "follow" |
use a specific trajectory as steering and timing input for a controller |
Yes |
Yes |
by reaching the end of the trajectory |
RoutingAction. FollowTrajectoryAction |
timeReference = "timing"; trajectoryFollowingMode = "position" |
use a specific trajectory and move the actor along that trajectory without any controller behavior |
Yes |
Yes |
by reaching the end of the trajectory |
SynchronizeAction |
not applicable |
reach a destination with timing constraints |
Yes |
No |
controlled vehicle reaching the target point |
TeleportAction |
not applicable |
instant change an objects position |
No |
No |
immediately (does not consume simulation time) |
TrailerAction.ConnectTrailerAction |
not applicable |
connect a trailer to a vehicle |
No |
No |
immediately (does not consume simulation time) |
TrailerAction.DisconnectTrailerAction |
not applicable |
disconnect any trailer from a vehicle |
No |
No |
immediately (does not consume simulation time) |
VisibilityAction |
not applicable |
change an objects visibility |
No |
No |
immediately (does not consume simulation time) |
| Action | Settings | Goal | Action ends |
|---|---|---|---|
EntityAction. AddEntityAction |
not applicable |
add an entity to the scenario, at a predefined position |
immediately (does not consume simulation time) |
EntityAction. DeleteEntityAction |
not applicable |
delete an entity at runtime from the simulation |
immediately (does not consume simulation time) |
EnvironmentAction |
not applicable |
set weather, road conditions and time of the day |
immediately (does not consume simulation time) |
InfrastructureAction. TrafficSignalAction. TrafficSignalControllerAction |
not applicable |
set a specific phase of a traffic signal controller, typically affecting a collection of signals |
immediately (does not consume simulation time) |
InfrastructureAction. TrafficSignalAction. TrafficSignalStateAction |
not applicable |
control the state of a traffic signal |
immediately |
TrafficAction. TrafficAreaAction |
not applicable |
define traffic in a specific area |
immediately (does not consume simulation time) |
TrafficAction. TrafficSinkAction |
not applicable |
define a sink of traffic at a specific position |
immediately (does not consume simulation time) |
TrafficAction. TrafficSourceAction |
not applicable |
define a source of traffic at a specific position |
immediately (does not consume simulation time) |
TrafficAction. TrafficSwarmAction |
not applicable |
define swarm traffic within an elliptical planview around a given central entity |
immediately (does not consume simulation time) |
VariableAction. VariableModifyAction |
not applicable |
modify a variable according to given rules |
immediately (does not consume simulation time) |
VariableAction. VariableSetAction |
not applicable |
set a variable to a given value |
immediately (does not consume simulation time) |
| Action | Settings | Goal | Action ends |
|---|---|---|---|
CustomCommandAction |
not applicable |
activate a custom action native to the specific user environment |
immediately (does not consume simulation time) |