ScenarioModifiers:
  ScenarioModifier:
    - name: __tier4_modifier_ego_speed
      list:
        - 3.09
    - name: __tier4_modifier_npc_speed
      list:
        - 1.3889
    - name: __tier4_modifier_D
      list:
        - 7.5
OpenSCENARIO:
  FileHeader:
    revMajor: 1
    revMinor: 1
    date: '2023-03-23T17:11:22.758Z'
    description: ''
    author: 'AKIRA TAMURA (last modified by: Takayuki Murooka)'
  ParameterDeclarations:
    ParameterDeclaration:
      - name: ego_speed
        parameterType: double
        value: __tier4_modifier_ego_speed
      - name: npc_speed
        parameterType: double
        value: __tier4_modifier_npc_speed
      - name: D
        parameterType: double
        value: __tier4_modifier_D
  CatalogLocations:
    CatalogLocation: []
  RoadNetwork:
    LogicFile:
      filepath: $(ros2 pkg prefix --share shinjuku_map)/map
    TrafficSignals:
      TrafficSignalController: []
  Entities:
    ScenarioObject:
      - name: ego
        Vehicle:
          name: ''
          vehicleCategory: car
          BoundingBox:
            Center:
              x: 1.35
              y: 0
              z: 1.25
            Dimensions:
              width: 1.875
              length: 4.4
              height: 2.5
          Performance:
            maxSpeed: 50
            maxAcceleration: INF
            maxDeceleration: INF
          Axles:
            FrontAxle:
              maxSteering: 0.5236
              wheelDiameter: 0.62
              trackWidth: 1.485
              positionX: 1.4
              positionZ: 0.31
            RearAxle:
              maxSteering: 0.5236
              wheelDiameter: 0.62
              trackWidth: 1.485
              positionX: -1.35
              positionZ: 0.31
          Properties:
            Property: []
        ObjectController:
          Controller:
            name: ''
            Properties:
              Property:
                - name: isEgo
                  value: 'true'
      - name: Npc1
        Vehicle:
          name: ''
          vehicleCategory: motorbike
          BoundingBox:
            Center:
              x: 0
              y: 0
              z: 1.25
            Dimensions:
              width: 0.8
              length: 2.2
              height: 2.5
          Performance:
            maxSpeed: 50
            maxAcceleration: INF
            maxDeceleration: INF
          Axles:
            FrontAxle:
              maxSteering: 0.5236
              wheelDiameter: 0.6
              trackWidth: 0.8
              positionX: 1.1
              positionZ: 0.3
            RearAxle:
              maxSteering: 0.5236
              wheelDiameter: 0.6
              trackWidth: 0.8
              positionX: 0
              positionZ: 0.3
          Properties:
            Property: []
        ObjectController:
          Controller:
            name: ''
            Properties:
              Property: []
  Storyboard:
    Init:
      Actions:
        Private:
          - entityRef: ego
            PrivateAction:
              - TeleportAction:
                  Position:
                    LanePosition:
                      roadId: ''
                      laneId: '37'
                      s: 100
                      offset: 0
                      Orientation:
                        type: relative
                        h: 0
                        p: 0
                        r: 0
              - RoutingAction:
                  AcquirePositionAction:
                    Position:
                      LanePosition:
                        roadId: ''
                        laneId: '37'
                        s: 200
                        offset: 0
                        Orientation:
                          type: relative
                          h: 0
                          p: 0
                          r: 0
              - ControllerAction:
                  AssignControllerAction:
                    Controller:
                      name: ''
                      Properties:
                        Property:
                          - name: maxSpeed
                            value: $ego_speed
          - entityRef: Npc1
            PrivateAction:
              - TeleportAction:
                  Position:
                    LanePosition:
                      roadId: ''
                      laneId: '38'
                      s: 140
                      offset: 0
                      Orientation:
                        type: relative
                        h: 0
                        p: 0
                        r: 0
              - RoutingAction:
                  AcquirePositionAction:
                    Position:
                      LanePosition:
                        roadId: ''
                        laneId: '37'
                        s: 220
                        offset: 0
                        Orientation:
                          type: relative
                          h: 0
                          p: 0
                          r: 0
              - LongitudinalAction:
                  SpeedAction:
                    SpeedActionDynamics:
                      dynamicsDimension: time
                      value: 0
                      dynamicsShape: step
                    SpeedActionTarget:
                      AbsoluteTargetSpeed:
                        value: 0
    Story:
      - name: ''
        Act:
          - name: act_npc_cutin
            ManeuverGroup:
              - maximumExecutionCount: 1
                name: act_npc_cutin
                Actors:
                  selectTriggeringEntities: false
                  EntityRef:
                    - entityRef: Npc1
                Maneuver:
                  - name: ''
                    Event:
                      - name: event-1
                        priority: parallel
                        Action:
                          - name: ''
                            PrivateAction:
                              LongitudinalAction:
                                SpeedAction:
                                  SpeedActionDynamics:
                                    dynamicsDimension: time
                                    value: 0
                                    dynamicsShape: step
                                  SpeedActionTarget:
                                    AbsoluteTargetSpeed:
                                      value: $npc_speed
                          - name: ''
                            PrivateAction:
                              LateralAction:
                                LaneChangeAction:
                                  LaneChangeActionDynamics:
                                    dynamicsDimension: distance
                                    value: 9 
                                    dynamicsShape: cubic
                                  LaneChangeTarget:
                                    AbsoluteTargetLane:
                                      value: '37'
                        StartTrigger:
                          ConditionGroup:
                            - Condition:
                                - name: ''
                                  delay: 0
                                  conditionEdge: none
                                  ByEntityCondition:
                                    TriggeringEntities:
                                      triggeringEntitiesRule: any
                                      EntityRef:
                                        - entityRef: ego
                                    EntityCondition:
                                      RelativeDistanceCondition:
                                        entityRef: Npc1
                                        relativeDistanceType: euclidianDistance
                                        coordinateSystem: entity
                                        value: $D
                                        freespace: true
                                        rule: lessThan
                                - name: ''
                                  delay: 0
                                  conditionEdge: none
                                  ByEntityCondition:
                                    TriggeringEntities:
                                      triggeringEntitiesRule: any
                                      EntityRef:
                                        - entityRef: ego
                                    EntityCondition:
                                      SpeedCondition:
                                        rule: greaterThan
                                        value: ${$ego_speed*0.95}
            StartTrigger:
              ConditionGroup:
                - Condition:
                    - name: Ignite immediately
                      delay: 0
                      conditionEdge: none
                      ByValueCondition:
                        SimulationTimeCondition:
                          value: 0
                          rule: greaterThan
          - name: _EndCondition
            ManeuverGroup:
              - maximumExecutionCount: 1
                name: ''
                Actors:
                  selectTriggeringEntities: false
                  EntityRef:
                    - entityRef: ego
                Maneuver:
                  - name: ''
                    Event:
                      - name: ''
                        priority: parallel
                        StartTrigger:
                          ConditionGroup:
                            - Condition:
                                - name: ''
                                  delay: 0
                                  conditionEdge: none
                                  ByEntityCondition:
                                    TriggeringEntities:
                                      triggeringEntitiesRule: any
                                      EntityRef:
                                        - entityRef: ego
                                    EntityCondition:
                                      ReachPositionCondition:
                                        Position:
                                          LanePosition:
                                            roadId: ''
                                            laneId: '37'
                                            s: 200
                                            offset: 0
                                            Orientation:
                                              type: relative
                                              h: 0
                                              p: 0
                                              r: 0
                                        tolerance: 1
                                - name: ''
                                  delay: 0
                                  conditionEdge: none
                                  ByValueCondition:
                                    StoryboardElementStateCondition:
                                      state: completeState
                                      storyboardElementType: act
                                      storyboardElementRef: act_npc_cutin
                        Action:
                          - name: ''
                            UserDefinedAction:
                              CustomCommandAction:
                                type: exitSuccess
                      - name: ''
                        priority: parallel
                        StartTrigger:
                          ConditionGroup:
                            - Condition:
                                - name: EgoCollideToNpc1
                                  delay: 0
                                  conditionEdge: none
                                  ByEntityCondition:
                                    TriggeringEntities:
                                      triggeringEntitiesRule: any
                                      EntityRef:
                                        - entityRef: ego
                                    EntityCondition:
                                      CollisionCondition:
                                        EntityRef:
                                          entityRef: Npc1
                            - Condition:
                                - name: Timeout
                                  delay: 0
                                  conditionEdge: none
                                  ByValueCondition:
                                    SimulationTimeCondition:
                                      value: 150
                                      rule: greaterThan
                        Action:
                          - name: ''
                            UserDefinedAction:
                              CustomCommandAction:
                                type: exitFailure
            StartTrigger:
              ConditionGroup:
                - Condition:
                    - name: ''
                      delay: 0
                      conditionEdge: none
                      ByValueCondition:
                        SimulationTimeCondition:
                          value: 0
                          rule: greaterThan
    StopTrigger:
      ConditionGroup: []