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437. ESA Lead vehicle introduction

The Emergency Steering Assist (ESA) Lead vehicle library components are located in $FTX_PACKAGES/adas/esa/scenarios/lead_vehicle as shown in Figure 1.

Figure 1: ESA Lead vehicle directory structure
Directory/File Description
test_suites A directory that contains the following folders to execute multiple tests:
  • The test_suite_definitions folder contains the CSV files for executing ESA Lead vehicle tests with FRun
  • The templates folder is used to generate tests to be executed with FRun
  • The example_test_cases folder contains test cases to run the ESA Lead vehicle scenarios
scenarios A directory containing the OSC2 source files for each scenario

437.1 Running a regression

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/esa/test_suites/test_suite_definitions/lead_vehicle/esa_ego_with_lead_vehicle_and_neighbor_in_fda.csv
 --csv $FTX_PACKAGES/adas/esa/test_suites/test_suite_definitions/lead_vehicle/esa_ego_with_lead_vehicle_and_neighbor_in_fda_main.csv
 --csv $FTX_PACKAGES/common/csv/sim_manually_driven_kinematic_config.csv
 --csv $FTX_PACKAGES/common/csv/new_map_config.csv
 --batch

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

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