395. ACC lead vehicle and stop
The ACC Lead vehicle and stop scenario verifies whether the ego, while ACC is activated, can safely adjust when the vehicle ahead of it stops.
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 stops.
395.1 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
395.1.1 Lead vehicle and stop parameters
| Parameter | Description | Range |
|---|---|---|
| color | Color of car1 | white, black, red, green, blue, yellow, brown, pink, gray |
| lead_car_speed | Lead car speed | speed |
| lead_duration | Duration of lead phase | time |
| slow_to_stop_duration | Duration of slow to stop phase | time |
| stop_duration | Duration of still stop phase | time |
| overlap | Percentage of the Ego's distance from the center line of the lane that overlaps with the lead car. |
395.1.2 ACC parameters
The ACC Lead vehicle and stop scenario inherits Frun parameters from Request ACC mode scenario. Please refer to Request ACC mode.
395.2 Coverage metrics
395.2.1 Lead vehicle and stop coverage
The ACC Lead vehicle and stop scenario inherits coverage definitions from the vehicle maneuver Lead vehicle scenarios. For more information, see Lead vehicle and stop.
In addition, the following metrics are defined.
| Item | Unit / Type | Range | Description |
|---|---|---|---|
| overlap | Percent expressed as an integer. | [-75..100] | Planned overlap. |
395.2.2 ACC coverage
The ACC Lead vehicle and stop scenario inherits coverage metrics from Request ACC mode scenario. Please refer to Request ACC mode.
395.3 KPIs
395.3.1 ACC KPIs
The ACC Lead vehicle and stop scenario inherits KPIs from Request ACC mode scenario. Please refer to Request ACC mode.
395.4 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 stop.
395.5 Additional checks
395.5.1 ACC checks
The ACC Lead vehicle and_stop scenario inherits checks from Request ACC mode scenario. Please refer to Request ACC mode.
395.6 CSV files with Lead vehicle and stop
$FTX/packages/adas/ACC/test_suites/test_suite_definitions/lead_vehicle/:
- acc_lead_vehicle.csv
- acc_lead_vehicle_main.csv