{
  "schemaVersion": 1,
  "metadata": {
    "id": "urban-crossing",
    "name": "Urban crossing and sensor failure",
    "description": "Cars, a truck, a crossing pedestrian, a cyclist, an obstacle and a sign. Radar fails at 10 s and recovers at 15 s.",
    "duration": 30
  },
  "environment": {
    "type": "intersection",
    "laneCount": 2,
    "laneWidth": 3.5,
    "intersectionX": 40
  },
  "ego": {
    "id": "ego",
    "kind": "ego",
    "position": {
      "x": 0,
      "y": 0
    },
    "heading": 0,
    "speed": 8,
    "startTime": 0,
    "behavior": "constant-speed",
    "signLabel": "50"
  },
  "actors": [
    {
      "id": "car-1",
      "kind": "car",
      "position": {
        "x": 35,
        "y": 0
      },
      "heading": 0,
      "speed": 4,
      "startTime": 0,
      "behavior": "constant-speed",
      "signLabel": "30"
    },
    {
      "id": "truck-1",
      "kind": "truck",
      "position": {
        "x": 60,
        "y": -3.5
      },
      "heading": 0,
      "speed": 3,
      "startTime": 0,
      "behavior": "constant-speed",
      "signLabel": "30"
    },
    {
      "id": "pedestrian-1",
      "kind": "pedestrian",
      "position": {
        "x": 28,
        "y": -5
      },
      "heading": 1.5707963267948966,
      "speed": 1.4,
      "startTime": 3,
      "behavior": "constant-speed",
      "signLabel": "30"
    },
    {
      "id": "cyclist-1",
      "kind": "cyclist",
      "position": {
        "x": 45,
        "y": 3
      },
      "heading": 0,
      "speed": 4,
      "startTime": 0,
      "behavior": "constant-speed",
      "signLabel": "30"
    },
    {
      "id": "obstacle-1",
      "kind": "obstacle",
      "position": {
        "x": 80,
        "y": 0
      },
      "heading": 0,
      "speed": 0,
      "startTime": 0,
      "behavior": "stationary",
      "signLabel": "30"
    },
    {
      "id": "traffic-sign-1",
      "kind": "traffic-sign",
      "position": {
        "x": 25,
        "y": -5
      },
      "heading": 0,
      "speed": 0,
      "startTime": 0,
      "behavior": "stationary",
      "signLabel": "30"
    }
  ],
  "sensors": {
    "enabled": {
      "radar": true,
      "camera": true
    },
    "radar": {
      "maxRange": 120,
      "horizontalFov": 1.0471975511965976,
      "rangeAccuracy": 0.5,
      "rangeRateAccuracy": 0.2,
      "updateFrequency": 10,
      "detectionProbability": 1,
      "noiseEnabled": false
    },
    "camera": {
      "range": 100,
      "fieldOfView": 1.5707963267948966,
      "confidenceThreshold": 0.45,
      "visibilityDegradation": 0
    }
  },
  "adas": {
    "acc": false,
    "aeb": true,
    "lka": false,
    "targetSpeed": 8,
    "timeHeadway": 2,
    "minimumDistance": 5
  },
  "events": [
    {
      "time": 10,
      "type": "sensor-enable",
      "sensor": "radar",
      "value": false
    },
    {
      "time": 15,
      "type": "sensor-enable",
      "sensor": "radar",
      "value": true
    }
  ]
}