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432. Blind Spot Monitoring (BSM) Introduction

Blind Spot Monitoring (BSM) is an ADAS function which issues a warning to the driver when there is a vehicle in the driver's blind spot or at the side of the vehicle. The warning can be provided as a visual symbol, a sound or steering wheel vibration to the driver.

BSM_image

BSM directory structure

The Blind Spot Monitoring (BSM) library components are located in $FTX_PACKAGES/adas/BSM as shown in Figure 1.

Figure 1: BSM directory structure
Directory/File Description
csv A directory containing CSV files for executing BSM tests with Frun.
examples Example test files for running a single test with Foretify.
osc A directory 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/BSM/test_suites/example_test_cases/stationary_objects/                 t_bsm_stationary_objects_in_adjacent_lane_of_ego.osc \
           --load $FTX/packages/adas/BSM/scenarios/common/bsm_config/bsm_sumo_config.osc --run

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

To run a set of tests 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/BSM/test_suites/test_suite_definitions/stationary_objects/bsm_stationary_objects_in_adjacent_lane_of_ego.csv \
     --csv $FTX/packages/adas/BSM/test_suites/test_suite_definitions/stationary_objects/bsm_stationary_objects_in_adjacent_lane_of_ego_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/BSM/test_suites/test_suite_definitions/user_bsm_config.csv \
     --batch
    2. Review the regression results in the default work directory:

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

To run all the BSM tests at once:

```bash
frun --file $FTX/packages/adas/BSM/test_suites/test_suite_definitions/all_bsm.txt
```

The all_bsm.txt file runs the following scenarios:

  • bsm_vehicle_approaching_ego_from_behind_both_sides_with_turn_signal.csv
  • bsm_vehicle_approaching_ego_from_behind_with_turn_signal_and_curved_road.csv
  • bsm_persons_approaching_ego_from_behind.csv
  • bsm_stationary_objects_in_adjacent_lane_of_ego.csv
  • bsm_vehicle_approaching_ego_from_behind_and_changing_lane.csv
  • bsm_vehicle_approaching_ego_from_behind_and_changing_lane_curved_road.csv
  • bsm_vehicle_approaching_ego_from_behind_and_changing_multiple_lanes.csv