-1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1% -1% Sample PDE File for 16.400 Automobile Simulatro Lab. -1% -1% This PDE file was prepared to help 16.400 students implement -1% their own roadway design. Not all events are included in this -1% sample PDE file. More detailed help on all functions is available -1% on the web at: -1% http://web.mit.edu/16.400/www/auto_sim/Help/Introduction.htm -1% or, if you are on the simulator, from the STISIM Drive's 'Help' -1% menu. If you have questions, your TA is available at -1% tatsuki@mit.edu. Have fun! -1% -1% Date Created: 8/19/2001 -1% Date Modified: 8/23/2001 -1% Author: Tatsuki Kashitani -1% -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 -1 List of Available events -1 -1------------------------------------------------------------------- -1 A - Vehicle ahead of driver, approaching in the other lane -1 AO - Analog output -1 B - Blank the roadway display screen for x.xx seconds -1 BARL - Construction zone barrels -1 BLCK - Display blocks or rectangles on the display screen -1 BLDG - Display a building -1 BRK – Activate the brake pedal -1 BSAV - Begin saving dynamic data for the output file -1 C - Add curvature to the roadway display -1 CAO - Continuous analog output -1 COLB – Collision block -1 CSET - Set crash parameters -1 CT - Cross traffic in an intersection -1 CV - Control vehicle automatically -1 D - Diamond sign -1 DA - Add a divided attention symbol to the display -1 DI - Digital input event -1 DO - Digital output event -1 ES - End simulation run -1 ESAV - End saving dynamic data for the output file -1 FOG - Add a patch of fog to scene -1 I - Display a roadway intersection -1 IA - Display an intersection ahead sign -1 JBAR - Jersey barrier -1 L - Left diamond sign -1 LS - Change the speed limit -1 PB - Police officer shows up -1 PDE - Previously defined event -1 PE - Police officer goes away -1 PED - Pedestrian -1 POLY - 2 dimensional polygons -1 PR - Play recording -1 Q - Rectangle sign -1 R - Right diamond sign -1 RMSB - Begin taking RMS data -1 RMSE - End taking RMS data -1 ROAD - Display a specific roadway -1 RSA - Change the current road surface attributes -1 RT - Reaction Time -1 S - Stop sign -1 SA - Display the signal ahead sign -1 SIGN - Display a roadway sign -1 SL - Display a traffic signal light -1 SOBJ - Add a static object -1 SPCW - Speed control warning -1 STCW - Steer control warning -1 T - Yield sign -1 TDO - Triggered digital output -1 TREE - Display trees on the side of the road -1 V - Vehicle ahead of driver in driver's lane -1 VC - Vertical curvature -1 WG - Wind gusts -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Define roadway sections -1 ROAD -1 Parameter 1: Lane width [ft] -1 Parameter 2: # of lanes -1 Parameter 3: # of right lanes -1 Parameter 4: Dividing line style (0-5) -1 Parameter 5: Edge line distance [ft] (0: no edge line) -1 Parameter 6: Length of lane marker stripe [ft] -1 Parameter 7: Length of lane marker gap [ft] -1 Parameter 8: Width of lane marker [ft] -1 Parameter 9: Width of edge line [ft] -1 Parameter 10: Transition length from previous ROAD [ft] -1 Parameter 11: Cross-slope of right lanes [%] (- means edge is lower) -1 Parameter 12: Cross-slope of left lanes [%} (- means edge is lower) -1 Parameter 13: Cross-slope of right shoulder [%] -1 Parameter 14: Width of right shoulder [ft] -1 Parameter 15: Cross-slope of left shoulder [%] -1 Parameter 16: Width of left shoulder [ft] -1 Parameter 17: Slope of right foreslope [%] -1 Parameter 18: Width of right foreslope [ft] -1 Parameter 19: Slope of left foreslope [%] -1 Parameter 20: Width of left foreslope [ft] -1 Parameter 21: Widht of center median [ft] 0, ROAD, 12, 2, 1, 1, 0.5, 10, 10, 0.333, 0.333, 0, -1, -1, 0, 6, 0, 6, -5, 10, -5, 10, 0 3500, ROAD, 12, 4, 2, 2, 0.5, 10, 10, 0.333, 0.333, 100, -1, -1, 0, 6, 0, 6, -5, 10, -5, 10, 1 5000, ROAD, 12, 2, 1, 1, 0.5, 10, 10, 0.333, 0.333, 0, -1, -1, 0, 6, 0, 6, -5, 10, -5, 10, 0 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1% Put traffic signs. -1 SIGN -1------------------------------------------------------------------- -1 Parameter 1: Sign type (1-13,100) -1 Parameter 2: Distance sign appears at [ft] -1 Parameter 3: Sign specific parameters (for 1&100 only) -1 Parameter 4: Sign source (0:US, 1:Europe) -1 Parameter 5: Which side of road (0:driver's side, 1:opposite) -1 Parameter 6: Rotation angle [deg] -1 ------------------------------------------------------------------ -1 Parameter 1 options: -1 1: Generic diamond sign (see parameter 3) -1 2: Full intersection ahead sign -1 3: Generic speed limit sign (no speed values) -1 4: Left curve ahead sign -1 5: Right curve ahead sign -1 6: Generic rectangle sign -1 7: Stop sign -1 8: Signal light ahead sign -1 9: Yield sign -1 10: Pedestrian crossing sign -1 11: Road narrows sign -1 12: Right intersection ahead sign -1 13: Left intersection ahead sign -1 100: User defined specialty sign (see parameter 3) -1 ------------------------------------------------------------------- -1 Parameter 3 options: -1 For stop sign (parameter1==1) -1 1 - Single stop sign in driver's direction -1 2 - Two way stop in the driver's direction -1 3 - Single stop sign in cross traffic's direction on right -1 4 - 4 way stop -1 5 - Two way cross traffic stop -1 6 - Single stop sign in cross traffic's direction on left -1 For user defined specialty sign -1 path to object file -1 look in c:STISIM\Data\Signs directory for available signs 100, SIGN, 4, 1000, 0, 0, 0, 0 250, SIGN, 5, 1700, 0, 0, 1, 180 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Curve the road to left -1 C, -1------------------------------------------------------------------- -1 Parameter 1: Distance curve appears at [ft] -1 Parameter 2: Entry spiral section length [ft] -1 Parameter 3: Curved Section Length [ft] -1 Parameter 4: Exit Sprial Length [ft] -1 Parameter 5: Curvature [1/ft] (+: right curve, -: left curve) -1 Parameter 6: Roadway cross-slope on/off (1:on, 0,off) -1 Parameter 7: Cross-slope in [%] (- bank helps driver) 250, C, 1000, 100, 400, 100, -0.0010, 1, -0.05 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Display some buildings -1 BLDG -1------------------------------------------------------------------- -1 Parameter 1: Distance building appears at [ft] -1 Parameter 2: Lateral position from dividing line [ft] -1 Parameter 3: Building model index (1-13) -1 You can assign a random building by using: -1 *[low range]~[high range] -1 ------------------------------------------------------------------ -1 Parameter 3 options: -1 1 - Generic house #1 (25 feet long going down the roadway) -1 2 - Generic house #2 (25 feet) -1 3 - Generic house #3 (32 feet) -1 4 - Generic house #4 (32 feet) -1 5 - Generic house #5 (40 feet) -1 6 - Office #1 (50 feet) -1 7 - Office #2 (145 feet) -1 8 - Office #3 (145 feet) -1 9 - Grocery store (60 feet) -1 10 - Triangular hot dog stand (16 feet) -1 11 - Brick offices (60 feet) -1 12 - Block of offices (480 feet) -1 13 - Gas station (60 feet) 0, BLDG, 980, 25, 10 0, BLDG, 1000, 25, 13 0, BLDG, 1060, 25, *1~5 0, BLDG, 1100, 25, *1~5 0, BLDG, 1140, 25, *1~5 0, BLDG, 1180, 25, *1~5 0, BLDG, 1220, 25, *1~5 0, BLDG, 1300, 25, 12 0, BLDG, 1000, -25, 9 0, BLDG, 1060, -25, 6 0, BLDG, 1120, -25, 7 0, BLDG, 1300, -25, 8 0, BLDG, 1500, -25, 11 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Display some oncoming traffic -1 A -1------------------------------------------------------------------- -1 Parameter 1: Speed of approaching vehicle [ft/s] -1 Parameter 2: Distance at vehicle appears at [ft] -1 Parameter 3: lateral lane position of the center of the vehicle wrt. -1 the roadway’s dividing line [ft] -1 You may also reference the vehicle’s position wrt. -1 driver’s position by using a * in front of this parameter -1 Parameter 4: Vehicle model type number (1-12) -1 You can assign a random vehicle by using: -1 *[low range]~[high range] -1------------------------------------------------------------------- -1 Parameter 4 options: -1 1 - Green coupe -1 2 - White coupe -1 3 - Gray sedan -1 4 - Red Sedan -1 5 - Police car -1 6 - Blue pickup -1 7 - White delivery van -1 8 - Gray bus -1 9 - Ambulance -1 10 - Blue jeep -1 11 - Green jeep -1 12 - Yellow jeep 0, A, 80, 600, -6, 12, 3, -20, 0, 4 1000, A, 50, 800, -6, *1~4 1000, A, 50, 900, -6, *6~8 1000, A, 50, 930, -6, *1~4 1000, A, 50, 1200, -6, *6~8 1000, A, 50, 1300, -6, *1~4 1000, A, 50, 1500, -6, *6~8 1000, A, 50, 1530, -6, *1~4 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Display some pedestrians -1 PED -1------------------------------------------------------------------- -1 Parameter 1: Distance pedestrian appears at [ft] -1 Parameter 2: Colision time (time pedestrain walks before car run past him) [s] -1 Parameter 3: Walking velocity [ft/s] -1 Parameter 4: Initial lateral position [ft] -1 Parameter 5: Direction pedestrian is coming from (B/F/L/R) -1 Parameter 6: Type of pedestrain (1-4) -1 You can assign a random vehicle by using: -1 *[low range]~[high range] -1------------------------------------------------------------------- -1 Parameter 5 options: -1 B: Approaching driver from the back -1 F: Approaching driver form the front -1 L: Approaching from the left -1 R: Approaching form the right -1------------------------------------------------------------------- -1 Parameter 6 options: -1 1: Man dressed in blue -1 2: Man dressed in brown -1 3: Man dressed in green -1 4: Boy dressed in red 100, PED, 680, 0, 0, 18, F, *1~3 100, PED, 685, 0, 0, 22, F, *1~3 100, PED, 690, 0, 0, 19, F, *1~3 100, PED, 695, 0, 0, 21, F, *1~3 100, PED, 705, 0, 0, 19, F, *1~3 100, PED, 700, 2, 10, 20, R, 4 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1, Display jersey barriers -1 JBAR -1------------------------------------------------------------------- -1 Parameter 1: Distance closest end of barrier appears at [ft] -1 Parameter 2: Not used -1 Parameter 3: Lateral position of front end [ft] -1 Parameter 4: Lateral position of rear end [ft] -1 Parameter 5: Length of barrier [ft] -1 Parameter 6: Type of barrier (1:3-foot high, 2:4foot-high) 1200,JBAR,1000,0,-13, -1,150,1 1200,JBAR,1200,0, -1, -1,350,1 1200,JBAR,1600,0, -1,-13,150,1 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1, Add vertical curvature -1 VC -1------------------------------------------------------------------- -1 Parameter 1: Longitudinal length of the vertical curvature [ft] -1 Parameter 2: Rate of change of the grade with distance along the vertical curve [%/ft] -1 This parameter causes the grade to change linearly along the roadway. 2000,VC,500,0.02 2500,VC,1000,-0.02 3500,VC,500,0.02 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Display a construction barrel or other lane marker -1 BARL -1------------------------------------------------------------------- -1 Parameter 1: Distance marker appears at [ft] -1 Parameter 2: Not used -1 Parameter 3: Not used -1 Parameter 4: Not used -1 Parameter 5: Not used -1 Parameter 6: Not used -1 Parameter 7: Not used -1 Parameter 8: Not used -1 Parameter 9: Lateral position from dividing line [ft] -1 Parameter 10: Barrel model index (1-3) -1 Parameter 11: Crash effect type index (0-2) -1 Parameter 12: Path to lane marker crash sound file -1 Parameter 13: Volume control (0-10) -1------------------------------------------------------------------- -1 Parameter 10 options: -1 1: Barrel -1 2: Tube -1 3: Cone -1 Parameter 11 options: -1 0: Do not generate a collision -1 1: Generate a normal collision -1 2:Play audio file specified by Parameter 12 0, BARL, 500, 0, 0, 0, 0, 0, 0, 0, -6, 3, 0, 0, 0 0, BARL, 510, 0, 0, 0, 0, 0, 0, 0, -4, 2, 0, 0, 0 0, BARL, 520, 0, 0, 0, 0, 0, 0, 0, -2, 1, 0, 0, 0 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Display an intersection on the screen -1 I -1------------------------------------------------------------------- -1 Parameter 1: The type of intersection (0-2) -1 Parameter 2: Distance at which intersection appears [ft] -1 Parameter 3: Flag that tells the simulation which direction (0-3) -1------------------------------------------------------------------- -1 Parameter 1 options: -1 0: Full intersection (branching both left and right) -1 1: Right branching intersection -1 2: Left branching intersection -1------------------------------------------------------------------- -1 Parameter 3 options: -1 0: No turning allowed -1 1: Full intersection (turning is allowed both directions) -1 2: Right turns only -1 3: Left turns only 3000, I, 0, 1100, 0 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Display a traffic signal light at the intersection -1 SL -1------------------------------------------------------------------- -1 Parameter 1: Distance signal light appears at [ft] -1 (- turns on auto alighnment w/ intersection) -1 Parameter 2: The amount of time that the driver is away from a green traffic light -1 when it changes to yellow. This time is based on the driver's velocity -1 when the event first begins [s] -1 Parameter 3: The length of time that the yellow light remains on [s] -1 Parameter 4: The length of time that the red light remains on [s] -1 Parameter 5: Initial light setting (0:green, 1:yellow, 2:red) -1 Parameter 6: Distance from the traffic signal location to the "true" limit line -1 Parameter 7: Signal light type (1-3) -1 Parameter 8: Signal light sequence (1:US, 2:European) -1------------------------------------------------------------------- -1 Parameter 7 options -1 1: On a post at the four corners of the intersection -1 2: Overhanging the roadway 15 feet at the four corners of the intersection -1 3: Overhanging the roadway 25 feet at the four corners of the intersection 3000, SL, -1100, 5, 1, 15, 0, -15, 3, 1 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Display a cross traffic vehicle -1 CT -1------------------------------------------------------------------- -1 Parameter 1: Distance cross traffic appears at [ft] -1 Parameter 2: Cross traffic display options (1-5) -1 Parameter 3: Initial lateral position from dividing line [ft] -1 Only used if parameter 2 is set to 4 or 5 -1 Parameter 4: Cross traffic vehicle's velocity [unit depnds on parameter 2] -1 Only used if parameter 2 is set to 4 or 5 -1 Parameter 5: Direction vehicle is coming from (L:left, R:right) -1 Parameter 6: Vehicle model index (1-8) -1 You can assign vehicle random index by using: -1 *[low range]~[high range] -1 Parameter 7: Intelligent vehicle flag (0:dumb, 1:reasonably intelligent) -1------------------------------------------------------------------- -1 Parameter 2 options: -1 1: Set crossing vehicle so that if the driver keeps constant speed the crossing -1 vehicle will pass behind the driver without colliding with them -1 2: Set crossing vehicle so that if the driver keeps constant speed the crossing -1 vehicle will collide with the driver's vehicle -1 3: Set crossing vehicle so that if the driver keeps constant speed the crossing -1 vehicle will pass in front of the driver without colliding with them -1 4: Specify the crossing vehicle's characteristics using lateral position and a -1 percentage of the driver's vehicle speed (see parameters 3 and 4) -1 5: Specify the crossing vehicle's characteristics using lateral position and -1 constant speed (see parameters 3 and 4) -1 Parameter 6 options: -1 1: Green coupe -1 2: White coupe -1 3: Gray sedan -1 4: Red Sedan -1 5: Police car -1 6: Blue pickup -1 7: White delivery van -1 8: Gray bus -1 9: Ambulance -1 10: Blue jeep -1 11: Green jeep -1 12: Yellow jeep 3000, CT, 1100, 3, 0, 0, R, 8, 1 3000, CT, 1100, 1, 0, 0, L, 4, 1 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Play a previously recorded message -1 PR -1------------------------------------------------------------------- -1 Parameter 1: Path to the WAV file -1 Parameter 2: Playback flag (0/1) -1 Parameter 3: Volume control (0-10) -1------------------------------------------------------------------- -1 Parameter 2 options -1 0: Play the recording and continue to run the simulation -1 1: Play the recording, continue to run the simulation, but -1 hold all subsequent events until the recording has finished -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Display trees -1 TREE -1------------------------------------------------------------------- -1 Parameter 1: Maximum number of trees that will be displayed at any one time -1 (50-100 good, 250 maximum allowed) -1 Parameter 2: Density that will be used to determine when a new tree will be added -1 (10 minimum, 50 nice) -1 Parameter 3: Type of tree that will be displayed -1 Parameter 4: Minimum lateral distance from roadway centerline to the trees [ft] -1 Parameter 5: Maximum lateral distance from the roadway centerline to the tree [ft] -1------------------------------------------------------------------- -1 Parameter 3 options -1 0: Randomly choose from the number of trees available -1 1: Some tree looking thing -1 2: Some other tree looking thing 2000, TREE, 250, 50, 0, 200, 30 -1 Stop Displaying Trees 4500, TREE, 0, 0, 0, 0 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Display a vehicle in the driver's lane, traveling in the same direction as the driver -1 V -1------------------------------------------------------------------- -1 Parameter 1: Speed of new vehicle [ft/s] -1 (*: initial speed relative to driver, /: always relative to driver) -1 Parameter 2: Distance at which vehicle appears [ft] -1 Parameter 3: lateral lane position of the center of the vehicle wrt. roadway's dividing line [ft] -1 (*: initial position relative to driver, /: always relative to driver) -1 Parameter 4: Brake lights flag (0:off 1:on) -1 Parameter 5: Vehicle model type number -1 You can assign vehicle random index by using: -1 *[low range]~[high range] -1 Parameter 6-25: vehicle action specification (see STISIM online help) -1------------------------------------------------------------------- -1 Parameter 5 options: -1 1: Green coupe -1 2: White coupe -1 3: Gray sedan -1 4: Red Sedan -1 5: Police car -1 6: Blue pickup -1 7: White delivery van -1 8: Gray bus -1 9: Ambulance -1 10: Blue jeep -1 11: Green jeep -1 12: Yellow jeep 0, V, *5, 600, *0, 1, *1~12 0, V, *10, 630, *0, 1, *1~12 0, V, *15, 645, *0, 1, *1~12 0, V, *20, 700, *0, 1, *1~12 0, V, *0, -100, /0, 1, *1~12 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Change the speed limit of the simulation -1 LS -1------------------------------------------------------------------- -1 Parameter 1: The maximum speed [mph] -1 Parameter 2: Distance event is away when the event initially occurs 0, LS, 65, 1000 -1 give the driver a slow speed warning -1 SPCW -1------------------------------------------------------------------- -1 Parameter 1: Speed control option flag (0:off, 1:once, 2:continuous) -1 Parameter 2: The speed that will trigger the warning message [ft/s] -1 Parameter 3: Volume control (0-10) 1000, 1, 40, 10 -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 Begin saving data -1 BSAV -1------------------------------------------------------------------- -1 Parameter 1: Save data options (0:distance based, 1:time-based) -1 Parameter 2: Save increment [ft or s depending on parameter 1] -1 Parameter 3: Data block title -1 Parameter 4-n: Type of data to be saved (1-25) -1------------------------------------------------------------------- -1 Parameter 4-n options: -1 1: Elapsed time since the beginning of the run (seconds) -1 2: Driver's longitudinal acceleration (feet/second2) -1 3: Driver's lateral acceleration (feet/second2) -1 4: Driver's longitudinal velocity (feet/second) -1 5: Driver's lateral velocity (feet/second) -1 6: Total longitudinal distance that the driver has traveled since the beginning of the run (feet) -1 7: Driver's lateral lane position with respect to the roadway dividing line, positive to the right (feet) -1 8: Vehicle curvature (curved path the vehicle is following based on the driver's steering and speed) (1/foot). -1 9: Current roadway curvature (1/foot) -1 10: Vehicle heading angle (degrees) -1 11: Steering wheel angle input (degrees -1 12: -1 13: -1 14: Current traffic signal light position (0:no signal light, 1:green, 2:yellow, 3:red) -1 15: Horn indicator, 0 if horn button is pressed -1 16: Left turn signal indicator, 0 if turn indicator is on -1 17: Right turn signal indicator, 0 if turn indicator is on -1 18: Running compilation of the crashes -1 19: Roadway traffic data -1 20: see online help -1 21: see online help -1 22: see online help -1 23: Driver's longitudinal velocity (miles/hour) -1 24: Vehicle yaw rate (radians/second) -1 25: Current transmission gear -1%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -1 End saving data -1 ESAV -1------------------------------------------------------------------- -1 No Parameters