396. ACC lead vehicle approach
The Lead vehicle approach scenarios verify whether the ego can safely adjust to the lower speed of the lead vehicle ahead of it in various traffic or road conditions, while ACC is activated.
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 at a slower speed.
396.1 Variants
- ACC lead vehicle approach on curve
396.2 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
396.2.1 Lead vehicle approach parameters
| Parameter | Description | Range |
|---|---|---|
| color | Color of lead vehicle | white, black, red, green, blue, yellow, brown, pink, gray |
| overlap | Percentage of the Ego's distance from the center line of the lane that overlaps with lead vehicle. | [-75..100] |
| acc_cruise_speed | ACC cruise speed | |
| ego_rel_speed_to_lead_vehicle | Relative speed of ego to the lead vehicle | [10..25]kph |
396.2.2 ACC parameters
The ACC Lead vehicle scenarios inherit Frun parameters from Request ACC mode scenario. Refer to Request ACC mode.
396.3 Coverage metrics
396.3.1 Lead vehicle approach coverage
The ACC Lead vehicle approach scenario inherits Frun parameters from Request ACC mode scenario. Please refer to Request ACC mode.
In addition, the following metrics are defined.
| Item | Unit / Type | Range | Description |
|---|---|---|---|
| overlap | Percent expressed as an integer. | [-75..101] | Planned overlap. |
| road_curvature | road_element | Curvature of the road |
396.3.2 ACC coverage
The ACC Lead vehicle approach scenarios inherit coverage metrics from Request ACC mode scenario. Refer to Request ACC mode.
396.4 KPIs
The ACC Lead vehicle approach scenarios inherit KPIs from the vehicle maneuver Lead vehicle scenarios. For more information, see Lead vehicle.
396.4.1 ACC KPIs
The ACC Lead vehicle approach scenarios inherit KPIs from Request ACC mode scenario. Refer to Request ACC mode.
396.5 Checks
The ACC Lead vehicle stop and go scenario inherits checks from the vehicle maneuver Lead vehicle scenario. For more information, see Lead vehicle.
396.6 Additional checks
396.6.1 ACC checks
The ACC Lead vehicle approach scenarios inherit checks from Request ACC mode scenario. Refer to Request ACC mode.
396.7 CSV files with Lead vehicle approach
$FTX/packages/adas/ACC/test_suites/test_suite_definitions/lead_vehicle/:
- acc_lead_vehicle.csv