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414. AEB Lead vehicle

The lead vehicle scenarios verify whether the ego can safely adjust to the behavior of the vehicle ahead of it in various traffic or road conditions.

Environmental requirements: A road at least 100 meters long. In some variants, the road needs to have at least two lanes or an intersection.

ego behavior: The ego drives in a lane behind the lead vehicle.

Other actors' behavior: At the start of the scenario, the lead vehicle is ahead of the ego in the same lane. Then it either continues in the same manner or, depending on the variant, alters its speed, changes lane or encounters various traffic or road conditions.

Figure 1: Lead vehicle scenario

./../../../../../base_scenarios/scenarios/lead_vehicle/lead_vehicle/base_lead_vehicle_basic.svg

414.1 AEB Lead vehicle and slow

414.1.1 FRun parameters

Refer to the parameters in Lead vehicle and slow.

414.1.2 Coverage metrics

Refer to the coverage metrics in Lead vehicle and slow.

414.1.3 KPIs

Refer to the KPIs in Lead vehicle and slow.

414.1.4 Checks

Refer to the checks in Lead vehicle and slow.

414.2 AEB Lead vehicle and stop

414.2.1 FRun parameters

Refer to the parameters in Lead vehicle and stop.

414.2.2 Coverage metrics

Refer to the coverage metrics in Lead vehicle and stop.

414.2.3 KPIs

Refer to the KPIs in Lead vehicle and stop.

414.2.4 Checks

Refer to the checks in Lead vehicle and stop.

414.3 AEB Lead vehicle cut out and stationary

414.3.1 FRun parameters

Refer to the parameters in vehicle cut out exposing vehicle.

414.3.2 Coverage metrics

Refer to the coverage metrics in vehicle cut out exposing vehicle.

414.3.3 KPIs

Refer to the KPIs in vehicle cut out exposing vehicle.

414.3.4 Checks

Refer to the checks in vehicle cut out exposing vehicle.

414.4 CSV files with AEB cut in

$FTX/packages/adas/AEB/front_AEB/test_suites/test_suite_definitions/lead_vehicle/

  • front_aeb_lead_vehicle_main.csv