Predefined Paths
CONSTANT RADIUS
[FEEDFORWARD_STEERING]
TAG = 'FEEDFORWARD'
LOOK_AHEAD_TIME = 0.5
PATH = 'PREDEFINED'
BLOCK = ‘PATH'
INTEGRATION_STEP_SIZE = 0.01
[PATH]
TYPE = 'CONSTANT_RADIUS'
RADIUS = 40
INITIAL_STRAIGHT = 10
ENTRY_ANGLE = 0.39
[CONSTANT RADIUS]  

TYPE  Attr  string  REQUIRED <CONSTANT_RADIUS> 
RADIUS  Attr  real  REQUIRED Radius of the circle. 
INITIAL_STRAIGHT  Attr  real  REQUIRED Length of the initial straight before entering the turn. 
TURN  Attr  string  OPTIONAL

ENTRY_ANGLE  Attr  real  OPTIONAL If provided, a transient length is added after the straight where the curvature is increased linearly to the final curvature before entering the constant radius path. Entry angle defines the angle with respect to the straight section at which the vehicle enters into the Constant Radius path. The greater the entry angle, the longer the transient section. 
SLALOM
[FEEDFORWARD_STEERING]
TAG = 'FEEDFORWARD'
LOOK_AHEAD_TIME = 0.5
PATH = 'PREDEFINED'
BLOCK = ‘PATH'
INTEGRATION_STEP_SIZE = 0.01
[PATH]
TYPE = 'SLALOM'
NUMBER_OF_CONES = 3
DESIRED_CG_LATERAL_DISP = 3
CONE_SPACING = 50
RECOVERY_LENGTH = 20
INITIAL_STRAIGHT = 20
[SLALOM]  

TYPE  Attr  String  REQUIRED <SLALOM> 
NUMBER_OF_CONES  Attr  int  REQUIRED Number of cones. 
DESIRED_CG_LATERAL_DISP  Attr  real  REQUIRED Desired CG lateral displacement. 
CONE_SPACING  Attr  real  REQUIRED Distance between adjacent cones. 
INITIAL_STRAIGHT  Attr  real  REQUIRED Straight section before entering slalom. 
RECOVERY_LENGTH  Attr  real  REQUIRED Straight section after completing slalom. 
ATTACK_DIRECTION  Attr  String  OPTIONAL

SINGLE LANE CHANGE
[FEEDFORWARD_STEERING]
TAG = 'FEEDFORWARD'
LOOK_AHEAD_TIME = 0.5
PATH = 'PREDEFINED'
BLOCK = 'PATH'
INTEGRATION_STEP_SIZE = 0.01
[PATH]
TYPE = 'SLC'
LATERAL_OFFSET = 3
SECTION_1 = 20
SECTION_2 = 20
SECTION_3 = 50
TURN_DIRECTION = 'LEFT'
ENTRY_ANGLE = 0.04963
MAX_CURVATURE = 1.42857e02
[SINGLE LANE CHANGE]  

TYPE  Attr  String  REQUIRED <SLC> 
LATERAL_OFFSET  Attr  int  REQUIRED Lateral distance between two lanes. 
SECTION_1  Attr  real  REQUIRED First lane distance in longitudinal direction. 
SECTION_2  Attr  real  REQUIRED Distance between lanes in longitudinal direction. 
SECTION_3  Attr  real  REQUIRED Second lane distance in longitudinal direction. 
TURN_DIRECTION  Attr  real  OPTIONAL

ENTRY_ANGLE  Attr  real  OPTIONAL If provided, it enables path easements around the lane corners. ENTRY_ANGLE is the angle with respect to straight lane section at which path easement section goes to maximum curvature and continues before reducing the curvature to zero on next lane. Used for first and second lane corners. 
MAX_CURVATURE  Attr  real  OPTIONAL If provided, it enables path easements around the lane corners. MAX_CURVATURE is the maximum curvature of the path easement section at the lane corners. Used for first and second lane corners. 
DOUBLE LANE CHANGE
[FEEDFORWARD_STEERING]
TAG = 'FEEDFORWARD'
LOOK_AHEAD_TIME = 0.5
PATH = 'PREDEFINED'
BLOCK = ‘PATH'
INTEGRATION_STEP_SIZE = 0.01
[PATH]
TYPE = 'DLC'
SECTION_1 = 20
SECTION_2 = 20
SECTION_3 = 20
SECTION_4 = 20
SECTION_5 = 50
TURN_DIRECTION = 'LEFT'
ENTRY_ANGLE_1 = 0.04963
MAX_CURVATURE_1 = 1.42857e02
ENTRY_ANGLE_2 = 0.04963
MAX_CURVATURE_2 = 1.42857e02
[DOUBLE LANE CHANGE]  

TYPE  Attr  String  REQUIRED <DLC> 
LATERAL_OFFSET  Attr  int  REQUIRED Lateral distance between two lanes. 
SECTION_1  Attr  real  REQUIRED First lane distance in longitudinal direction. 
SECTION_2  Attr  real  REQUIRED Distance between first and second lane in longitudinal direction. 
SECTION_3  Attr  real  REQUIRED Second lane distance in longitudinal direction. 
SECTION_4  Attr  real  REQUIRED Distance between second and third lane in longitudinal direction. 
SECTION_5  Attr  real  REQUIRED Third lane distance in longitudinal direction. 
TURN_DIRECTION  Attr  real  OPTIONAL

ENTRY_ANGLE_1  Attr  real  OPTIONAL If provided, it enables path easements around the lane corners. ENTRY_ANGLE_1 is the angle with respect to straight lane section at which the path easement section goes to maximum curvature and continues before reducing the curvature to zero on next lane. Used for first and second lane corners. 
MAX_CURVATURE_1  Attr  real  OPTIONAL If provided, it enables path easements around the lane corners. MAX_CURVATURE_1 is the maximum curvature of the path easement section at the lane corners. Used for first and second lane corners. 
ENTRY_ANGLE_2  Attr  real  OPTIONAL If provided, it enables path easements around the lane corners. ENTRY_ANGLE_2 is the angle with respect to straight lane section at which the path easement section goes to maximum curvature and continues before reducing the curvature to zero on next lane. Used for third and fourth lane corners. 
MAX_CURVATURE_2  Attr  real  OPTIONAL If provided, it enables path easements around the lane corners. MAX_CURVATURE_2 is the maximum curvature of the path easement section at the lane corners. Used for third and fourth lane corners. 