Add AssignRouteAction to TrafficAction

osi_trafficcommand.proto

@@ -4,6 +4,7 @@ option optimize_for = SPEED;
 
 import "osi_version.proto";
 import "osi_common.proto";
+import "osi_route.proto";
 
 package osi3;
 
@@ -130,6 +131,10 @@ message TrafficAction
  //
  optional TeleportAction teleport_action = 12;
 
+ // An AssignRouteAction
+ //
+ optional AssignRouteAction assign_route_action = 13;
+
  //
  // \brief The action header
  //
@@ -311,13 +316,10 @@ message TrafficAction
  //
  // \brief Acquire global position action.
  //
- // This action assigns a route to a traffic participant. The route
- // assigned will be the shortest route (along roads or satisfying any
- // other constraints a traffic participant is operating under) between
- // the traffic participant's current position and the position specified.
- //
- // As with all routing actions, the exact way this route is achieved is
- // under the control of the traffic participant model.
+ // This action assigns a target position to a traffic participant.
+ // The traffic participant is expected to navigate to this position
+ // autonomously (e.g. via the shortest route). Unlike AssignRouteAction,
+ // no explicit route is provided — routing is left to the participant.
  //
  // \note This action is aligned with the AcquirePositionAction of
  // OpenSCENARIO 1.0 using a WorldPosition position argument.
@@ -687,4 +689,36 @@ message TrafficAction
  //
  optional Orientation3d orientation = 3;
  }
+
+ // \brief Assign Route Action
+ //
+ // This Action allows to assign a route to a traffic participant.
+ //
+ // \note This action is aligned with the AssignRouteAction of OpenSCENARIO
+ // 1.0, with the assumption that the scenario engine fully resolves the
+ // route before passing it to the traffic participant. Resolution includes:
+ // - Converting all OpenSCENARIO Position types to logical lane s-positions
+ // - Applying the RouteStrategy (e.g., shortest, fastest) to determine the
+ // concrete path between waypoints
+ // - Unrolling closed routes into a linear segment sequence
+ // - Resolving any CatalogReferences
+ // The resulting OSI Route contains only concrete LogicalLaneSegments;
+ // the original RouteStrategy values and Position types are not forwarded.
+ // \note Unlike FollowTrajectoryAction and FollowPathAction, this action
+ // does not override lateral or longitudinal motion control. It provides
+ // routing guidance that coexists with other motion-controlling actions
+ // (e.g. SpeedAction, LaneChangeAction).
+ // \note The Route.route_id must be set and unique within all route
+ // messages exchanged with this traffic participant.
+ //
+ message AssignRouteAction
+ {
+ // The Action Header
+ //
+ optional ActionHeader action_header = 1;
+
+ // The route to be assigned to the traffic participant.
+ //
+ optional Route route = 2;
+ }
 }