# Component View

openPASS is divided into components, which can be roughly divided into core components and model components. The most interesting core components are the individual spawners, which are responsible for populating the world in a realistic fashion. Model components are again roughly divided into drivers and vehicle components and represent how an individual participant is composed.

Note

There are several additional components acting in the background, making sure things work as they should. As a guideline, components parameterized through the ProfilesCatalog are scope of this guide, others not.

## Components in Depth

In the following, all available components are described.

- Algorithm_Lateral
  - Detailed description of the module’s features
    - Lateral dynamics
    - Heading controller
    - Lateral deviation controller
- Algorithm_Longitudinal
  - Detailed description of the module’s features
    - Inverted longitudinal dynamics model
    - Algorithm for optimal gear determination
- Driver
  - AlgorithmAgentFollowingDriverModel
    - Lateral control
    - Longitudinal control
- Dynamics_RegularDriving
  - Overview of the module’s functionalities
    - Longitudinal dynamics
    - Lateral dynamics
    - Updating position
- Dynamics_Scenario
  - DefaultStrategies
    - KeepVelocity - longitudinal
    - KeepLaneOffset - lateral
  - Strategies
    - FollowVelocitySpline - longitudinal
    - PerformChangeLane - lateral
    - FollowTrajectory - both
- Sensor_Driver
  - Components of the module
    - OwnVehicleStates
    - TrafficRuleInformation
    - GeometryInformation
    - SurroundingObjects
- Spawner
  - PreRunSpawner
  - RuntimeSpawner
  - TrafficGroups
- VehicleComponents
  - AEB
  - DynamicsTrajectoryFollower
  - FMU Wrapper
  - SensorGeometric2D
  - ReceiverCar2X
  - SSP
  - VehicleDynamics
    - ActionSteeringSystem
    - ActionPowertrain
    - ActionBrakeSystem
    - DynamicsChassis
    - DynamicsTireModel
    - DynamicsMotionModel