394. ACC lead vehicle and slow
The ACC Lead vehicle and slow scenario verifies whether the ego, while ACC is activated, can safely adjust when the vehicle ahead of it slows down.
Environmental requirements: A road at least 100 meters long.
ego behavior: The ego drives in a lane behind the lead vehicle with ACC activated.
Other actors' behavior: At the start of the scenario, the lead vehicle is ahead of the ego in the same lane. Then it slows down.
394.1 Variants
- ACC lead vehicle and slow on curve
394.2 FRun parameters
The following tables describe the parameters that you can constrain if you are using FRun and the template plugin to create tests using $FTX_PACKAGES/adas/ACC/test_suites/test_suite_definitions/lead_vehicle/acc_lead_vehicle.csv
394.2.1 Lead vehicle and slow parameters
| Parameter | Description | Range |
|---|---|---|
| color | Color of lead vehicle | white, black, red, green, blue, yellow, brown, pink, gray |
| acc_cruise_speed | ACC cruise speed | [30..50]kph |
| lead_vehicle_rel_speed_to_ego_at_start | Lead vehicle speed | [30..80]kph |
| lead_duration | Duration of lead phase | [3..9]s |
| slow_duration | Duration of slow phase | [4..5]s |
| overlap | Percentage of the Ego's distance from the center line of the lane that overlaps with the lead vehicle. |
394.2.2 ACC parameters
The ACC Lead vehicle and slow scenario inherits Frun parameters from Request ACC mode scenario. Please refer to Request ACC mode.
394.3 Coverage metrics
394.3.1 Lead vehicle and slow coverage
The ACC Lead vehicle and slow scenario inherits coverage definitions from the vehicle maneuver Lead vehicle scenarios. For more information, see Lead vehicle and slow.
In addition, the following metrics are defined.
| Item | Unit / Type | Range | Description |
|---|---|---|---|
| planned_overlap | Percent expressed as an integer. | [-75..101] | Planned overlap. |
| road_curvature | road_element | Curvature of the road |
394.3.2 ACC coverage
The ACC Lead vehicle and slow scenario inherits coverage metrics from Request ACC mode scenario. Please refer to Request ACC mode.
394.4 KPIs
394.4.1 ACC KPIs
The ACC Lead vehicle and slow scenario inherits KPIs from Request ACC mode scenario. Please refer to Request ACC mode.
394.5 Checks
The ACC Lead vehicle stop and go scenario inherits checks from the vehicle maneuver Lead vehicle scenario. For more information, see Lead vehicle and slow.
394.6 Additional checks
394.6.1 ACC checks
The ACC Lead vehicle and slow scenario inherits checks from Request ACC mode scenario. Please refer to [Request ACC mode]([request-acc].
394.7 CSV files with Lead vehicle and slow
$FTX/packages/adas/ACC/test_suites/test_suite_definitions/lead_vehicle/:
- acc_lead_vehicle.csv
- acc_lead_vehicle_main.csv