450. LCA lead vehicle lane hugger
In this scenario, ego attains cruise speed and drives on a curved road, following a leading vehicle, which hugs the lane in which it is driving. By hugging the lane, the lead vehicle obstructs the lane marking visually, which is an interesting case for testing an LCA function.
ego behavior: The ego drives in a lane with LCA activated.
Other conditions: The curvature of the road is varied based on minimum curvature and maximum curvature thresholds.
Other actors behavior: At the start of the scenario, the lead vehicle is ahead of the ego in the same lane, driving in the center of the lane. During the first phase of the scenario, lead_vehicle_phase, the lead vehicle will move laterally towards the lane boundary. During the second phase, keep_hugging, it will keep driving and hugging the lane boundary.
450.1 FRun parameters
The following tables describe the parameters that you can constrain if you are using Frun and the template plugin to create tests using $FTX_PACKAGES/adas/LCA/test_suites/test_suite_definitions/lead_vehicle/lca_lead_vehicle_lane_hugger_main.csv
| Parameter | Description | Range |
|---|---|---|
| min_radius | Minimum radius of the piece of road on which the scenario will happen | Any length greather than 0 meter. If constrained to 0 meter, it will be unbounded. |
| max_radius | Maximum radius of the piece of road on which the scenario will happen | Any length greather than 0 meter. If constrained to 0 meter, it will be unbounded. |
| lead_vehicle_hug_side | Side of lane that the lead vehicle will hug | left, right |
| cruise_speed | Cruise speed throughout the execution of the scenario | [30..90]kph |
| lead_vehicle_rel_speed_to_ego_at_start | Lead vehicle speed relative to the Ego | [-70..30]kph |
450.2 Coverage metrics
450.2.1 LCA coverage
The LCA lead vehicle lane hugger scenario uses the common coverage defined for all LCA scenarios. Please refer to LCA common metrics.
450.2.2 Scenario coverage
| Item | Unit / Type | Range | Description |
|---|---|---|---|
| lead_vehicle_hug_side | left, right | Side of the lane that the lead vehicle hugs |
450.3 KPIs
450.3.1 LCA KPIs
The LCA lead vehicle lane hugger scenario uses the common KPIs defined for all LCA scenarios. Please refer to LCA common KPIs.
450.4 Checks
450.4.1 LCA checks
The LCA lead vehicle lane hugger scenario uses the common checks defined for all LCA scenarios. Please refer to LCA common checks.
450.5 CSV files with LCA lead vehicle lane hugger
$FTX_PACKAGES/adas/LCA/test_suites/test_suite_definitions/lead_vehicle/lca_lead_vehicle_lane_hugger_main.csv $FTX_PACKAGES/adas/LCA/test_suites/test_suite_definitions/lead_vehicle/lca_lead_vehicle_lane_hugger.csv