<?xml version="1.0" encoding="UTF-8"?>
<systems>
  <system>
    <id>0</id>
    <title>AEB_Static</title>
    <priority>0</priority>
    <components>
      <component>
        <id>0</id>
        <library>Parameters_Vehicle</library>
        <title>ParametersVehicle</title>
        <schedule>
          <priority>500</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters/>
        <position>
          <x>143</x>
          <y>483</y>
        </position>
      </component>
      <component>
        <id>2</id>
        <library>AlgorithmAgentFollowingDriverModel</library>
        <title>AlgorithmAgentFollowingDriverModel</title>
        <schedule>
          <priority>310</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters>
          <parameter>
            <!--parameter's title: VelocityWish-->
            <id>VelocityWish</id>
            <type>double</type>
            <unit>m/s</unit>
            <value>35</value>
          </parameter>
          <parameter>
            <!--parameter's title: Delta-->
            <id>Delta</id>
            <type>double</type>
            <unit></unit>
            <value>0</value>
          </parameter>
          <parameter>
            <!--parameter's title: TGapWish-->
            <id>TGapWish</id>
            <type>double</type>
            <unit>s</unit>
            <value>0</value>
          </parameter>
          <parameter>
            <!--parameter's title: MinDistance-->
            <id>MinDistance</id>
            <type>double</type>
            <unit>m</unit>
            <value>0</value>
          </parameter>
          <parameter>
            <!--parameter's title: MaxAcceleration-->
            <id>MaxAcceleration</id>
            <type>double</type>
            <unit>m/s^2</unit>
            <value>0</value>
          </parameter>
          <parameter>
            <!--parameter's title: MaxDeceleration-->
            <id>MaxDeceleration</id>
            <type>double</type>
            <unit>m/s^2</unit>
            <value>0</value>
          </parameter>
        </parameters>
        <position>
          <x>426</x>
          <y>20</y>
        </position>
      </component>
      <component>
        <id>3</id>
        <library>Algorithm_Longitudinal</library>
        <title>AlgorithmLongitudinal</title>
        <schedule>
          <priority>100</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters/>
        <position>
          <x>1114</x>
          <y>238</y>
        </position>
      </component>
      <component>
        <id>4</id>
        <library>Algorithm_Lateral</library>
        <title>AlgorithmLateral</title>
        <schedule>
          <priority>100</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters/>
        <position>
          <x>1116</x>
          <y>403</y>
        </position>
      </component>
      <component>
        <id>8</id>
        <library>Sensor_Driver</library>
        <title>SensorDriver</title>
        <schedule>
          <priority>390</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters/>
        <position>
          <x>40</x>
          <y>329</y>
        </position>
      </component>
      <component>
        <id>9</id>
        <library>Dynamics_RegularDriving</library>
        <title>DynamicsRegularDriving</title>
        <schedule>
          <priority>50</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters/>
        <position>
          <x>1387</x>
          <y>445</y>
        </position>
      </component>
      <component>
        <id>10</id>
        <library>Dynamics_CollisionPostCrash</library>
        <title>DynamicsCollisionPostCrash</title>
        <schedule>
          <priority>50</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters/>
        <position>
          <x>1385</x>
          <y>596</y>
        </position>
      </component>
      <component>
        <id>11</id>
        <library>SignalPrioritizer</library>
        <title>SignalPrioritizer</title>
        <schedule>
          <priority>25</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters>
          <parameter>
            <!--parameter's title: Priority Input 1-->
            <id>0</id>
            <type>int</type>
            <unit></unit>
            <value>1</value>
          </parameter>
          <parameter>
            <!--parameter's title: Priority Input 2-->
            <id>1</id>
            <type>int</type>
            <unit></unit>
            <value>4</value>
          </parameter>
          <parameter>
            <!--parameter's title: Priority Input 3-->
            <id>2</id>
            <type>int</type>
            <unit></unit>
            <value>2</value>
          </parameter>
          <parameter>
            <!--parameter's title: Priority Input 4-->
            <id>3</id>
            <type>int</type>
            <unit></unit>
            <value>3</value>
          </parameter>
        </parameters>
        <position>
          <x>1668</x>
          <y>321</y>
        </position>
      </component>
      <component>
        <id>12</id>
        <library>AgentUpdater</library>
        <title>AgentUpdater</title>
        <schedule>
          <priority>1</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters/>
        <position>
          <x>1925</x>
          <y>520</y>
        </position>
      </component>
      <component>
        <id>13</id>
        <library>Action_SecondaryDriverTasks</library>
        <title>ActionSecondaryDriverTasks</title>
        <schedule>
          <priority>3</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters/>
        <position>
          <x>1380</x>
          <y>116</y>
        </position>
      </component>
      <component>
        <id>14</id>
        <library>Action_LongitudinalDriver</library>
        <title>ActionLongitudinalDriver</title>
        <schedule>
          <priority>3</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters/>
        <position>
          <x>1382</x>
          <y>325</y>
        </position>
      </component>
      <component>
        <id>16</id>
        <library>Algorithm_AEB</library>
        <title>AEB</title>
        <schedule>
          <priority>250</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters>
          <parameter>
            <!--parameter's title: CollisionDetectionLongitudinalBoundary-->
            <id>0</id>
            <type>double</type>
            <unit>m</unit>
            <value>4</value>
          </parameter>
          <parameter>
            <!--parameter's title: CollisionDetectionLateralBoundary-->
            <id>1</id>
            <type>double</type>
            <unit>m</unit>
            <value>1.5</value>
          </parameter>
          <parameter>
            <!--parameter's title: TTC-->
            <id>2</id>
            <type>double</type>
            <unit>s</unit>
            <value>1.5</value>
          </parameter>
          <parameter>
            <!--parameter's title: Acceleration-->
            <id>3</id>
            <type>double</type>
            <unit>m/s^2</unit>
            <value>-8</value>
          </parameter>
        </parameters>
        <position>
          <x>1013</x>
          <y>726</y>
        </position>
      </component>
      <component>
        <id>17</id>
        <library>Sensor_OSI</library>
        <title>Geometric2D</title>
        <schedule>
          <priority>398</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters>
          <parameter>
            <!--parameter's title: Longitudinal-->
            <id>Longitudinal</id>
            <type>double</type>
            <unit>m</unit>
            <value>0.0</value>
          </parameter>
          <parameter>
            <!--parameter's title: Lateral-->
            <id>Lateral</id>
            <type>double</type>
            <unit>m</unit>
            <value>0.0</value>
          </parameter>
          <parameter>
            <!--parameter's title: Height-->
            <id>Height</id>
            <type>double</type>
            <unit>m</unit>
            <value>0.5</value>
          </parameter>
          <parameter>
            <!--parameter's title: Pitch-->
            <id>Pitch</id>
            <type>double</type>
            <unit>rad</unit>
            <value>0.0</value>
          </parameter>
          <parameter>
            <!--parameter's title: Yaw-->
            <id>Yaw</id>
            <type>double</type>
            <unit>rad</unit>
            <value>0.0</value>
          </parameter>
          <parameter>
            <!--parameter's title: Roll-->
            <id>Roll</id>
            <type>double</type>
            <unit>rad</unit>
            <value>0.0</value>
          </parameter>
          <parameter>
            <!--parameter's title: FailureProbability-->
            <id>FailureProbability</id>
            <type>double</type>
            <unit></unit>
            <value>0.0</value>
          </parameter>
          <parameter>
		  <!--parameter's title: Latency-->
		  <id>Latency</id>
		  <type>double</type>
		  <!-- <title>Latency</title> -->
		  <unit>s</unit>
		  <value>
		   0
		  </value>
		 </parameter>
          <parameter>
            <!--parameter's title: OpeningAngleH-->
            <id>OpeningAngleH</id>
            <type>double</type>
            <unit>rad</unit>
            <value>0.35</value>
          </parameter>
          <parameter>
            <!--parameter's title: EnableVisualObstruction-->
            <id>EnableVisualObstruction</id>
            <type>bool</type>
            <unit></unit>
            <value>false</value>
          </parameter>
          <parameter>
            <!--parameter's title: DetectionRange-->
            <id>DetectionRange</id>
            <type>double</type>
            <unit>m</unit>
            <value>300</value>
          </parameter>
          <parameter>
            <!--parameter's title: RequiredPercentageOfVisibileArea-->
            <id>RequiredPercentageOfVisibileArea</id>
            <type>double</type>
            <unit></unit>
            <value>0.001</value>
          </parameter>
		  <parameter>
            <!--parameter's title: Type-->
            <id>Type</id>
            <type>string</type>
            <unit></unit>
            <value>Geometric2D</value>
          </parameter>
		  <parameter>
            <!--parameter's title: DetectionDelayTime-->
            <id>DetectionDelayTime</id>
            <type>double</type>
            <unit></unit>
            <value>0</value>
          </parameter>
		  <parameter>
            <!--parameter's title: MaxDropOutTime-->
            <id>MaxDropOutTime</id>
            <type>double</type>
            <unit></unit>
            <value>0</value>
          </parameter>
		  <parameter>
            <!--parameter's title: Id-->
            <id>Id</id>
            <type>int</type>
            <unit></unit>
            <value>1</value>
          </parameter>
        </parameters>
        <position>
          <x>557</x>
          <y>650</y>
        </position>
      </component>
      <component>
        <id>18</id>
        <library>SignalPrioritizer</library>
        <title>SignalPrioritizer</title>
        <schedule>
          <priority>101</priority>
          <offset>0</offset>
          <cycle>100</cycle>
          <response>0</response>
        </schedule>
        <parameters>
          <parameter>
            <!--parameter's title: Priority Input 1-->
            <id>0</id>
            <type>int</type>
            <unit></unit>
            <value>4</value>
          </parameter>
          <parameter>
            <!--parameter's title: Priority Input 2-->
            <id>1</id>
            <type>int</type>
            <unit></unit>
            <value>3</value>
          </parameter>
          <parameter>
            <!--parameter's title: Priority Input 3-->
            <id>2</id>
            <type>int</type>
            <unit></unit>
            <value>2</value>
          </parameter>
          <parameter>
            <!--parameter's title: Priority Input 4-->
            <id>3</id>
            <type>int</type>
            <unit></unit>
            <value>1</value>
          </parameter>
        </parameters>
        <position>
          <x>805</x>
          <y>75</y>
        </position>
      </component>
    </components>
    <connections>
      <connection>
        <id>0</id>
        <source>
          <!--component title: SensorDriver-->
          <component>8</component>
          <!--output title: Driver Signal-->
          <output>0</output>
        </source>
        <target>
          <!--component title: AlgorithmAgentFollowingDriverModel-->
          <component>2</component>
          <!--input title: Driver Signal-->
          <input>0</input>
        </target>
        <target>
          <!--component title: AlgorithmLateral-->
          <component>4</component>
          <!--input title: Driver Signal-->
          <input>101</input>
        </target>
        <target>
          <!--component title: AlgorithmLongitudinal-->
          <component>3</component>
          <!--input title: Driver Signal-->
          <input>3</input>
        </target>
      </connection>
      <connection>
        <id>3</id>
        <source>
          <!--component title: SignalPrioritizer-->
          <component>11</component>
          <!--output title: Prioritized Signal-->
          <output>0</output>
        </source>
        <target>
          <!--component title: AgentUpdater-->
          <component>12</component>
          <!--input title: Dynamics Signal-->
          <input>0</input>
        </target>
      </connection>
      <connection>
        <id>4</id>
        <source>
          <!--component title: Dynamics_RegularDriving-->
          <component>9</component>
          <!--output title: Dynamics Signal-->
          <output>0</output>
        </source>
        <target>
          <!--component title: SignalPrioritizer-->
          <component>11</component>
          <!--input title: Input 1-->
          <input>0</input>
        </target>
      </connection>
      <connection>
        <id>5</id>
        <source>
          <!--component title: DynamicsCollisionPostCrash-->
          <component>10</component>
          <!--output title: Dynamics Signal-->
          <output>0</output>
        </source>
        <target>
          <!--component title: SignalPrioritizer-->
          <component>11</component>
          <!--input title: Input 2-->
          <input>1</input>
        </target>
      </connection>
      <connection>
        <id>6</id>
        <source>
          <!--component title: ParametersVehicle-->
          <component>0</component>
          <!--output title: Vehicle Parameters-->
          <output>1</output>
        </source>
        <target>
          <!--component title: Dynamics_RegularDriving-->
          <component>9</component>
          <!--input title: Vehicle Parameters-->
          <input>100</input>
        </target>
        <target>
          <!--component title: AlgorithmLongitudinal-->
          <component>3</component>
          <!--input title: Vehicle Parameters-->
          <input>1</input>
        </target>
        <target>
          <!--component title: AlgorithmLateral-->
          <component>4</component>
          <!--input title: Vehicle Parameters-->
          <input>100</input>
        </target>
      </connection>
      <connection>
        <id>9</id>
        <source>
          <!--component title: AlgorithmLateral-->
          <component>4</component>
          <!--output title: Steering Signal-->
          <output>0</output>
        </source>
        <target>
          <!--component title: Dynamics_RegularDriving-->
          <component>9</component>
          <!--input title: Steering Signal-->
          <input>1</input>
        </target>
      </connection>
      <connection>
        <id>10</id>
        <source>
          <!--component title: AlgorithmLongitudinal-->
          <component>3</component>
          <!--output title: Longitudinal Signal-->
          <output>0</output>
        </source>
        <target>
          <!--component title: Dynamics_RegularDriving-->
          <component>9</component>
          <!--input title: Longitudinal Signal-->
          <input>0</input>
        </target>
        <target>
          <!--component title: ActionLongitudinalDriver-->
          <component>14</component>
          <!--input title: Longitudinal Signal-->
          <input>0</input>
        </target>
      </connection>
      <connection>
        <id>12</id>
        <source>
          <!--component title: AlgorithmAgentFollowingDriverModel-->
          <component>2</component>
          <!--output title: Secondary Driver Tasks-->
          <output>1</output>
        </source>
        <target>
          <!--component title: ActionSecondaryDriverTasks-->
          <component>13</component>
          <!--input title: Secondary Driver Tasks-->
          <input>0</input>
        </target>
      </connection>
      <connection>
        <id>14</id>
        <source>
          <!--component title: AlgorithmAgentFollowingDriverModel-->
          <component>2</component>
          <!--output title: Lateral Signal-->
          <output>0</output>
        </source>
        <target>
          <!--component title: AlgorithmLateral-->
          <component>4</component>
          <!--input title: Lateral Signal-->
          <input>0</input>
        </target>
      </connection>
      <connection>
        <id>15</id>
        <source>
          <!--component title: Geometric2D-->
          <component>17</component>
          <!--output title: Sensor Data-->
          <output>0</output>
        </source>
        <target>
          <!--component title: AEB-->
          <component>16</component>
          <!--input title: Camera-->
          <input>0</input>
        </target>
      </connection>
      <connection>
        <id>16</id>
        <source>
          <!--component title: AEB-->
          <component>16</component>
          <!--output title: Acceleration Signal-->
          <output>0</output>
        </source>
        <target>
          <!--component title: SignalPrioritizer-->
          <component>18</component>
          <!--input title: Input 1-->
          <input>0</input>
        </target>
      </connection>
      <connection>
        <id>17</id>
        <source>
          <!--component title: AlgorithmAgentFollowingDriverModel-->
          <component>2</component>
          <!--output title: Acceleration Signal-->
          <output>2</output>
        </source>
        <target>
          <!--component title: SignalPrioritizer-->
          <component>18</component>
          <!--input title: Input 2-->
          <input>1</input>
        </target>
      </connection>
      <connection>
        <id>18</id>
        <source>
          <!--component title: SignalPrioritizer-->
          <component>18</component>
          <!--output title: Prioritized Signal-->
          <output>0</output>
        </source>
        <target>
          <!--component title: AlgorithmLongitudinal-->
          <component>3</component>
          <!--input title: Acceleration Signal-->
          <input>0</input>
        </target>
      </connection>
    </connections>
  </system>
</systems>
