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421. Rear AEB introduction

The Rear Autonomous Emergency Braking (AEB) library components are located in $FTX_PACKAGES/adas/AEB/AEB_rear directory, as shown in Figure 1.

Figure 1: Rear AEB directory structure
Directory/File Description
test_suite_definitions A directory containing CSV files for executing Rear AEB tests with Frun.
example_test_cases Example test files for running a single test with Foretify.
scenarios A directory containing several scenario families containing the OSC2 source files for each scenario.
templates A directory containing the templates used to generate tests to be executed with Frun.

To run a single test with Foretify and a specific simulator:

  1. Invoke Foretify with a test file from the examples directory.

    For example: 

    $ foretify --load $FTX/packages/adas/AEB/rear_AEB/test_suites/example_test_cases/t_rear_aeb_ego_reverse_drive_and_stationary_object.osc \
           --load $FTX/packages/adas/AEB/common/aeb_config/aeb_carla_config.osc --run

  2. Enter quit at the Foretify> prompt after the run completes.

To run a test suite with Frun:

  1. Invoke Frun in batch mode with all the CSV files required for the set of tests that you chose.

    For example: 

    frun --csv $FTX_PACKAGES/adas/AEB/rear_AEB/test_suites/test_suite_definitions/ego_reverse_drive/rear_aeb_ego_reverse_drive_and_stationary_object.csv \
     --csv $FTX_PACKAGES/adas/AEB/rear_AEB/test_suites/test_suite_definitions/ego_reverse_drive/rear_aeb_ego_reverse_drive_and_stationary_object_main.csv \
     --csv $FTX_PACKAGES/common/csv/sim_manually_driven_dynamic_config.csv \
     --csv $FTX_PACKAGES/common/csv/map_config.csv \
     --csv $FTX_PACKAGES/adas/AEB/common/test_suites/test_suite_definitions/user_aeb_config.csv \
     --batch

  2. Review the regression results in the default work directory:

    ~/foretify/sessions/<timestamp>/<timestamp>/

To run all the Rear AEB tests at once:

frun --file $FTX_PACKAGES/adas/AEB/rear_AEB/test_suites/test_suite_definitions/all_rear_aeb.txt

The all_rear_aeb.txt file runs the following scenarios:

  • rear_aeb_ego_reverse_drive_and_stationary_object.csv
  • rear_aeb_ego_reverse_drive_and_stationary_vehicle_at_distance.csv
  • rear_aeb_ego_reverse_drive_and_stationary_vehicle_for_center_impact.csv
  • rear_aeb_ego_reverse_drive_and_stationary_vehicle_for_side_impact.csv
  • rear_aeb_ego_reverse_drive_and_person_group_walk_in_fov_on_curve.csv
  • rear_aeb_ego_reverse_drive_and_person_walk_with_obstruction_vehicle.csv
  • rear_aeb_ego_reverse_drive_and_person_stationary.csv
  • rear_aeb_ego_reverse_drive_and_person_walk_farside.csv
  • rear_aeb_ego_reverse_drive_and_person_walk_nearside.csv