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444. Lane Centering Assist (LCA) introduction

Lane Centering Assist (LCA), sometimes also called Lane Centering Control (LCC), is an ADAS function which automatically tries to keep the vehicle in the center of the lane and follows gentle turns on highways or inter-urban roads. LCA takes over the lateral motion of the vehicle but typically needs an activated ACC to automatically control also the longitudinal motion of the vehicle. LCA needs to be supervised by the driver and the driver needs to be able to take over steering at any point in time.

LCA_image

LCA directory structure

The Lane Centering Assist (LCA) library components are located in $FTX_PACKAGES/adas/LCA as shown in Figure 1.

Figure 1: LCA directory structure
Directory/File Description
cpp A directory containing C++ methods required for integrating user-defined functionality with Foretify.
csv A directory containing CSV files for executing LCA 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.
utils A directory containing shared utilities.

To run a single test with Foretify:

Invoke Foretify with a test file from the examples directory. For example:

$ foretify --load $FTX/packages/adas/LCA/test_suites/example_test_cases/free_drive/t_lca_ego_drive_on_curved_road.osc \
        --load $FTX/packages/adas/LCA/scenarios/common/lca_config/lca_carla_config.osc \
        --run --batch
In this example, the configured simulator is CARLA.

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/LCA/test_suites/test_suite_definitions/free_drive/lca_ego_drive_on_curved_road.csv \
    --csv $FTX_PACKAGES/adas/LCA/test_suites/test_suite_definitions/free_drive/lca_ego_drive_on_curved_road_main.csv \
    --csv $FTX_PACKAGES/adas/LCA/test_suites/test_suite_definitions/free_drive/lca_ego_drive_on_straight_road.csv \
    --csv $FTX_PACKAGES/adas/LCA/test_suites/test_suite_definitions/free_drive/lca_ego_drive_on_straight_road_main.csv \
    --csv $FTX_PACKAGES/common/csv/uncontrolled_carla_config.csv \
    --batch
    2. Review the regression results in the default work directory:

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

To run all the LCA tests at once:

frun --file $FTX/packages/adas/LCA/test_suites/test_suite_definitions/all_lca.txt

The all_lca.txt file runs the following tests:

  • lca_ego_drive_on_curved_road.csv
  • lca_ego_drive_on_straight_road.csv
  • lca_lead_vehicle_lane_hugger.csv
  • lca_lead_vehicle_driving_between_lanes.csv
  • lca_ego_drive_on_straight_road_with_crossing_person.csv
  • lca_ego_drive_on_curved_road_with_crossing_person.csv
  • lca_time_of_day_lead_vehicle_cut_out.csv son