<?xml version='1.0' encoding='UTF-8'?>
<ProfilesCatalog SchemaVersion="0.6.0">
  <AgentProfiles>
    <AgentProfile Name="EgoAgent" Type="Dynamic">
      <DriverProfiles>
                <DriverProfile Name="EgoDriver" Probability="1.0"/>
            </DriverProfiles>
      <SystemProfiles>
        <SystemProfile Name="EgoVehicle" Probability="1.0"/>
      </SystemProfiles>
      <VehicleModels>
        <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
      </VehicleModels>
    </AgentProfile>
  </AgentProfiles>
  <SystemProfiles>
    <SystemProfile Name="EgoVehicle">
      <Components>
                <Component Type="SSP1">
                    <Profiles>
                        <Profile Name="SSP" Probability="1.0"/>
                    </Profiles>
                    <SensorLinks>
                        <SensorLink SensorId="0" InputId="Camera"/>
                    </SensorLinks>
                </Component>
            </Components>
      <Sensors>
                <Sensor Id="0" Position="FrontWindow">
          <Profile Type="Geometric2D" Name="Standard"/>
        </Sensor>
      </Sensors>
    </SystemProfile>
  </SystemProfiles>
  <ProfileGroup Type="Driver">
    <Profile Name="EgoDriver">
            <String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
            <String Key="AlgorithmLateralModule" Value="Algorithm_LateralAfdm"/>
            <String Key="AlgorithmLongitudinalModule" Value="Algorithm_LongitudinalAfdm"/>
            <Double Key="VelocityWish" Value="36.11"/>
            <Double Key="Delta" Value="4.0"/>
            <Double Key="TGapWish" Value="1.5"/>
            <Double Key="MinDistance" Value="2.0"/>
            <Double Key="MaxAcceleration" Value="1.4"/>
            <Double Key="MaxDeceleration" Value="2.0"/>
        </Profile>
  </ProfileGroup>
  <ProfileGroup Type="Geometric2D">
    <Profile Name="Standard">
      <Double Key="OpeningAngleH" Value="3.14"/>
      <Double Key="DetectionRange" Value="150"/>
      <Double Key="FailureProbability" Value="0"/>
      <NormalDistribution Key="Latency" Mean="0.0" SD="0.0" Min="0.0" Max="0.0"/>
      <Bool Key="EnableVisualObstruction" Value="true"/>
      <Double Key="DetectionDelayTime" Value="0"/>
      <Double Key="MaxDropOutTime" Value="0"/>
    </Profile>
  </ProfileGroup>
  <ProfileGroup Type="TrafficRules">
    <Profile Name="DE">
            <Double Key="OpenSpeedLimit" Value="INF"/>
            <Double Key="OpenSpeedLimitTrucks" Value="22.2222222"/>
            <Double Key="OpenSpeedLimitBuses" Value="27.7777777"/>
            <Bool Key="KeepToOuterLanes" Value="true"/>
            <Bool Key="DontOvertakeOnOuterLanes" Value="true"/>
            <Bool Key="FormRescueLane" Value="true"/>
            <Bool Key="ZipperMerge" Value="true"/>
        </Profile>
  </ProfileGroup>
  <ProfileGroup Type="SSP1">
    <Profile Name="SSP">
            <String Key="SspPath" Value="ConnectionTest.ssp"/>
        </Profile>
  </ProfileGroup>
</ProfilesCatalog>
