397. ACC lead vehicle changing speed
The Lead vehicle changing speed scenario verifies whether the ego, while ACC is activated, can safely adjust when the car ahead of it changes speed.
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 and then speeds up again.
397.1 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
397.1.1 Lead vehicle changing speed parameters
| Parameter | Description | Range |
|---|---|---|
| color | Color of car1 | white, black, red, green, blue, yellow, brown, pink, gray |
| change_speed1_duration | Duration of change_speed1 phase | time |
| change_speed2_duration | Duration of change_speed2 phase | time |
| speed1 | Speed in change_speed_1 phase | speed |
| speed2 | Speed in change_speed_2 phase | speed |
| speed3 | Speed in change_speed_3 phase | speed |
| overlap | Percentage of the Ego's distance from the center line of the lane that overlaps with the lead car. |
397.1.2 ACC parameters
The ACC Lead vehicle changing speed scenario inherits FRun parameters from Request ACC mode scenario. Please refer to Request ACC mode.
397.2 Coverage metrics
397.2.1 Lead vehicle changing speed coverage
The ACC Lead vehicle changing speed scenario inherits coverage definitions from the vehicle maneuver Lead vehicle scenarios. For more information, see Lead vehicle changing speed.
In addition, the following metrics are defined.
| Item | Unit / Type | Range | Description |
|---|---|---|---|
| overlap | Percent expressed as an integer. | [-75..100] | Planned overlap. |
397.2.2 ACC coverage
The ACC Lead vehicle changing speed scenario inherits coverage metrics from Request ACC mode scenario. Please refer to Request ACC mode.
397.3 KPIs
The ACC Lead vehicle changing speed scenario inherits KPIs from the vehicle maneuver Lead vehicle scenarios. For more information, see Lead vehicle changing speed.
397.3.1 ACC KPIs
The ACC Lead vehicle changing speed scenario inherits KPIs from Request ACC mode scenario. Please refer to Request ACC mode.
397.4 Checks
The ACC Lead vehicle stop and go scenario inherits checks from the vehicle maneuver Lead vehicle scenario. For more information, see Lead vehicle changing speed.
397.5 Additional checks
397.5.1 ACC checks
The ACC Lead vehicle changing speed scenario inherits checks from Request ACC mode scenario. Please refer to Request ACC mode.
397.6 CSV files with Lead vehicle
$FTX/packages/adas/ACC/test_suites/test_suite_definitions/lead_vehicle/: - acc_lead_vehicle.csv