<?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>
    <AgentProfile Name="TFAgent" Type="Dynamic">
      <DriverProfiles>
        <DriverProfile Name="Regular" Probability="1.0"/>
      </DriverProfiles>
      <SystemProfiles>
        <SystemProfile Name="TFVehicle" Probability="1.0"/>
      </SystemProfiles>
      <VehicleModels>
        <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
      </VehicleModels>
    </AgentProfile>
    <AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
      <DriverProfiles>
        <DriverProfile Name="Regular" Probability="1.0"/>
      </DriverProfiles>
      <SystemProfiles>
        <SystemProfile Name="BMW 7 1" Probability="0.5"/>
        <SystemProfile Name="BMW 7 2" Probability="0.5"/>
      </SystemProfiles>
      <VehicleModels>
        <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
        <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
      </VehicleModels>
    </AgentProfile>
    <AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
      <DriverProfiles>
        <DriverProfile Name="Regular" Probability="1.0"/>
      </DriverProfiles>
      <SystemProfiles>
        <SystemProfile Name="Mini Cooper" Probability="0.4"/>
        <SystemProfile Name="BMW i3" Probability="0.3"/>
        <SystemProfile Name="BMW 3" Probability="0.3"/>
      </SystemProfiles>
      <VehicleModels>
        <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
        <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
        <VehicleModel Name="car_bmw_3" Probability="0.3"/>
      </VehicleModels>
    </AgentProfile>
    <AgentProfile Name="TruckAgent" Type="Dynamic">
      <DriverProfiles>
        <DriverProfile Name="Regular" Probability="1.0"/>
      </DriverProfiles>
      <SystemProfiles>
        <SystemProfile Name="Truck" Probability="0.5"/>
        <SystemProfile Name="Bus" Probability="0.5"/>
      </SystemProfiles>
      <VehicleModels>
        <VehicleModel Name="truck" Probability="0.5"/>
        <VehicleModel Name="bus" Probability="0.5"/>
      </VehicleModels>
    </AgentProfile>
  </AgentProfiles>
  <SystemProfiles>
    <SystemProfile Name="EgoVehicle">
      <Components>
	 <Component Type="FMU1">
          <Profiles>
            <Profile Name="FMU" 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>
    <SystemProfile Name="TFVehicle">
      <Components>
        <Component Type="Dynamics_TrajectoryFollower">
          <Profiles>
            <Profile Name="BasicTrajectoryFollower" Probability="1.0"/>
          </Profiles>
        </Component>
      </Components>
      <Sensors/>
    </SystemProfile>
    <SystemProfile Name="BMW 7 1">
      <Components/>
      <Sensors/>
    </SystemProfile>
    <SystemProfile Name="BMW 7 2">
      <Components/>
      <Sensors/>
    </SystemProfile>
    <SystemProfile Name="Mini Cooper">
      <Components/>
      <Sensors/>
    </SystemProfile>
    <SystemProfile Name="BMW i3">
      <Components/>
      <Sensors/>
    </SystemProfile>
    <SystemProfile Name="BMW 3">
      <Components/>
      <Sensors/>
    </SystemProfile>
    <SystemProfile Name="Truck">
      <Components/>
      <Sensors/>
    </SystemProfile>
    <SystemProfile Name="Bus">
      <Components/>
      <Sensors/>
    </SystemProfile>
  </SystemProfiles>
  <ProfileGroup Type="Driver">
    <!--Profile Name="Regular">
      <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-->
    <Profile Name="EgoDriver">
      <String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
      <String Key="AlgorithmLateralModule" Value="Algorithm_LateralAfdm"/>
      <String Key="AlgorithmLongitudinalModule" Value="Algorithm_LongitudinalAfdm"/>
      <Double Key="VelocityWish" Value="35.0"/>
      <Double Key="Delta" Value="4.0"/>
      <Double Key="TGapWish" Value="1.5"/>
      <Double Key="MinDistance" Value="2.0"/>
      <Double Key="MaxAcceleration" Value="2.0"/>
      <Double Key="MaxDeceleration" Value="0.5"/>
    </Profile>
    <Profile Name="Regular">
      <String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
	  <String Key="AlgorithmLateralModule" Value="Algorithm_LateralAfdm"/>
      <String Key="AlgorithmLongitudinalModule" Value="Algorithm_LongitudinalAfdm"/>
      <Double Key="VelocityWish" Value="35.0"/>
      <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="AEB">
    <Profile Name="AebOSI">
      <Double Key="CollisionDetectionLongitudinalBoundary" Value="4.0"/>
      <Double Key="CollisionDetectionLateralBoundary" Value="0.5"/>
      <Double Key="TTC" Value="2.0"/>
      <Double Key="Acceleration" Value="-3.0"/>
    </Profile>
  </ProfileGroup>
  <ProfileGroup Type="Dynamics_TrajectoryFollower">
    <Profile Name="BasicTrajectoryFollower">
      <Bool Key="AutomaticDeactivation" Value="true"/>
      <Bool Key="EnforceTrajectory" Value="true"/>
    </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="TrafficGroup">
    <Profile Name="DefaultPreRunCommon">
      <List Name="AgentProfiles">
        <ListItem>
          <String Key="Name" Value="LuxuryClassCarAgent"/>
          <Double Key="Weight" Value="0.4"/>
        </ListItem>
        <ListItem>
          <String Key="Name" Value="MiddleClassCarAgent"/>
          <Double Key="Weight" Value="0.6"/>
        </ListItem>
        <ListItem>
          <String Key="Name" Value="TruckAgent"/>
          <Double Key="Weight" Value="0.0"/>
        </ListItem>
      </List>
      <NormalDistribution Key="Velocity" Max="43.685" Mean="31.475" Min="19.265" SD="6.105"/>
      <LogNormalDistribution Key="TGap" Max="34.467" Min="1.276" Mu="1.892" Sigma="0.824"/>
      <DoubleVector Key="Homogeneity" Value="0.820, 1.0"/>
    </Profile>
    <Profile Name="DefaultRuntimeCommon">
      <List Name="AgentProfiles">
        <ListItem>
          <String Key="Name" Value="LuxuryClassCarAgent"/>
          <Double Key="Weight" Value="0.4"/>
        </ListItem>
        <ListItem>
          <String Key="Name" Value="MiddleClassCarAgent"/>
          <Double Key="Weight" Value="0.6"/>
        </ListItem>
        <ListItem>
          <String Key="Name" Value="TruckAgent"/>
          <Double Key="Weight" Value="0.0"/>
        </ListItem>
      </List>
      <NormalDistribution Key="Velocity" Max="43.685" Mean="31.475" Min="19.265" SD="6.105"/>
      <LogNormalDistribution Key="TGap" Max="34.467" Min="1.276" Mu="1.892" Sigma="0.824"/>
      <DoubleVector Key="Homogeneity" Value="0.820, 1.0"/>
    </Profile>
  </ProfileGroup>
  <ProfileGroup Type="FMU1">
    <Profile Name="FMU">
      <String Key="FmuPath" Value="OSMPSDToTUS.fmu"/>
      <Bool Key="Logging" Value="true"/>
      <Bool Key="CsvOutput" Value="false"/>
      <String Key="Input_OSMPSensorDataIn" Value="SensorData"/>
      <String Key="Input_OSMPSensorViewInConfig" Value="SensorViewConfig"/>
      <String Key="Output_OSMPTrafficUpdateOut" Value="TrafficUpdate"/>
      <String Key="Output_OSMPSensorViewInConfigRequest" Value="SensorViewConfigRequest"/>
	  <Bool Key="WriteJson_SensorData" Value="false"/>
	  <Bool Key="WriteJson_TrafficUpdate" Value="false"/>
    </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>
    <Profile Name="US">
      <Double Key="OpenSpeedLimit" Value="31.2928"/>
      <Double Key="OpenSpeedLimitTrucks" Value="26.8224"/>
      <Double Key="OpenSpeedLimitBuses" Value="26.8224"/>
      <Bool Key="KeepToOuterLanes" Value="false"/>
      <Bool Key="DontOvertakeOnOuterLanes" Value="false"/>
      <Bool Key="FormRescueLane" Value="true"/>
      <Bool Key="ZipperMerge" Value="false"/>
    </Profile>
    <Profile Name="CN">
      <Double Key="OpenSpeedLimit" Value="33.3333"/>
      <Double Key="OpenSpeedLimitTrucks" Value="25.0"/>
      <Double Key="OpenSpeedLimitBuses" Value="27.7777777"/>
      <Bool Key="KeepToOuterLanes" Value="false"/>
      <Bool Key="DontOvertakeOnOuterLanes" Value="true"/>
      <Bool Key="FormRescueLane" Value="false"/>
      <Bool Key="ZipperMerge" Value="true"/>
    </Profile>
  </ProfileGroup>
</ProfilesCatalog>
