# Investigating a Toolchain from Trajectory Recording to Resimulation
## 2 Material and Methods
### Traffic Simulation
Condition-dependent maneuvers according to a script can therefore only be represented to a limited extent in the openPASS simulation environment, since the simulation itself controls the behavior of the agents. For each considered scenario, there are two protagonists to extract and re-simulate. The goal is to check if the behavioral models that are included in openPASS are able to re-simulate the recorded trajectories at a T-junction. Therefore, one vehicle is defined as the actor and the other as the reactor. Based on the given trajectory of the actor, the behavioral models of the reactor should lead to a trajectory that matches the recorded counterpart of the actor. \begin{table}
\begin{tabular}{l c c c c c c} \hline \hline
**Parameter** & \multicolumn{2}{c}{**Scenario 1**} & \multicolumn{2}{c}{**Scenario 2**} & \multicolumn{2}{c}{**Scenario 3**} \\ \hline Name & car 1 & car 2 & car 1 & car 2 & car & ped \\ Vehicle category & car & car & car & car & car & pedestrian \\ Center of mass x [m] & 1.49 & 1.49 & 1.49 & 1.49 & 1.49 & 0.20 \\ Center of mass y [m] & 0.00 & 0.00 & 0.00 & 0.00 & 0.00 & 0.00 \\ Center of mass z [m] & 0.75 & 0.75 & 0.75 & 0.75 & 0.90 \\ Dimensions x [m] & 2.16 & 2.16 & 2.16 & 2.16 & 2.16 & 0.40 \\ Dimensions y [m] & 5.27 & 5.27 & 5.27 & 5.27 & 5.27 & 0.30 \\ Dimensions z [m] & 1.49 & 1.49 & 1.49 & 1.49 & 1.49 & 1.80 \\ Max. speed [m/s] & 69.44 & 69.44 & 69.44 & 69.44 & 69.44 & 1.38 \\ Max. deceleration [m/s\({}^{2}\)] & 9.81 & 9.81 & 9.81 & 9.81 & 9.81 & 9.81 \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Parameters in the vehicle catalog. \begin{table}
\begin{tabular}{l c c c c c c} \hline \hline
**Parameter** & \multicolumn{2}{c}{**Scenario 1**} & \multicolumn{2}{c}{**Scenario 2**} & \multicolumn{2}{c}{**Scenario 3**} \\ \hline Agent name & Ag1 & Ag2 & Ag1 & Ag2 & Ag1 & Ag2 \\ Type (D = dynamic/S = static) & D & D & D & D & D & D \\ Driver profile & Reg1 & Reg2 & Reg1 & Reg2 & Reg & Ped \\ Vehicle profile (TFV = TFVehicle) & TFV & TFV & TFV & TFV & TFV & TFV \\ Velocity wish [m/s] & 11 & 14 & 12.5 & 6.0 & 10.0 & 1.38 \\ Delta in velocity wish [m/s] & 10 & 30 & 1.0 & 1.0 & 1.0 & 0.0 \\ T gap wish to vehicle in front [s] & 0.0 & 0.0 & 0.0 & 0.0 & 0.0 & 0.0 \\ Min. distance [m] & 14 & 0.1 & 10.0 & 10.0 & 10.0 & 10.0 \\ Max. acceleration [m/s\({}^{2}\)] & 1.8 & 1.7 & 1.8 & 1.8 & 1.8 & 4.8 \\ Max. deceleration [m/s\({}^{2}\)] & 9.81 & 9.81 & 9.81 & 9.81 & 9.81 & 9.81 \\ Speed gain per time step [m/s] & 0.0 & 0.0 & 0.0 & 0.0 & 0.0 & 0.0 \\ Keep right & 0.1 & 0.1 & 0.1 & 0.1 & 0.1 & 0.1 \\ Cooperative (lane change) & 0.4 & 0.4 & 0.4 & 0.4 & 0.4 & 0.4 \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Parameters in the profile catalog. \begin{table}
\begin{tabular}{l c c c c c} \hline \hline
**Parameter** & \multicolumn{2}{c}{**Scenario 1**} & \multicolumn{2}{c}{**Scenario 2**} & \multicolumn{2}{c}{**Scenario 3**} \\ \hline Name & car 1 & car 2 & car 1 & car 2 & car & ped \\ Scenario object & Ag1 & Ag2 & Ag1 & Ag2 & Ag1 & Ag2 \\ Road ID & 3 & 3 & 3 & 2 & 3 & 7 \\ Lane ID & \(-2\) & \(-2\) & \(-2\) & \(-2\) & \(-2\) & \(-1\) \\ Agent starting point [m] & 108.0 & 77.0 & 135.0 & 65.0 & 25.0 & 3.8 \\ Absolute target speed [m/s] & 10.0 & 22.0 & 6.0 & 9.0 & 0.0 & 3.0 \\ Road position s [m] & 182.0 & 170.0 & 131.0 & 1.0 & 32.0 & 17.0 \\ Road position t [m] & \(-2.0\) & \(-2.0\) & \(-2.0\) & \(-2.0\) & \(-2.0\) & \(-1.0\) \\ Simulation time condition [s] & 80 & 80 & 80 & 80 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Parameters in OpenScenario. the reactor. Therefore, we compare the trajectories and the velocities of the recorded and simulated vehicles over time.