Skip to content

463. LDW lane departure

In this scenario the ego (DUT) drives on a predefined test path, where the shape and direction of the test path is determined by some input values.

Figure 1: LDW lane departure

463.1 Variants

  • ldw_lane_departure

463.2 FRun parameters

Configuration Type Range Description
ego_speed speed [10..150]kph ego longitudinal speed
lat_speed speed [0..1]mps Lateral ego speed
r length [2..1500]m Radius for the test path
psi angle [0.5..30]degree Angle for the test path
d1 length [0.1..10]m Lateral distance traveled during curve part of the test path
d2 length [0.1..10]m Lateral distance traveled during straight line part of the test path
d_offlane length Spare distance to be traveled after the test path
turning_side right, left ego turning side
driver_signal right_on, left_on, off Ego's turn indicator

463.3 Coverage metrics

Item Unit / Type Range Description
vut_speed_at_shape_start kph [10..100], every:5 Actual VUT speed at shape start
vut_acceleration_at_shape_start mpsps [-5..5], every:2 Actual VUT acceleration at shape start
planned_vut_lat_speed mps [0.1..1], every=0.1 Planned VUT lateral speed
vut_abs_dist_center_to_lane_marking m [0..5],every=0.1 VUT's lateral offset from center lane marking
vut_min_ttc_to_all_other_actors s [0..3000],every:300 VUT's minimum TTC
vut_ttc_at_possible_collision s [0..3000],every: 300 VUT's TTC at possible collision
vut_side_of_possible_collision Side of VUT on which possible collision might occur
vut_speed_at_possible_collision kph [10..50],every:5 VUT speed at possible collision
vut_acceleration_at_possible_collision mpsps range: [-2..4],every:2 VUT acceleration at possible collision
lss_reaction_time s range:[1..20], every :2 LSS reaction time after it started lane departure
vut_lat_mov_dist cm range:[0..500],every:20 Lateral travel from lane departure to LSS engagement
vut_lat_speed_start mps range: [0.1..1], every: 0.1 VUT lateral speed in mps at LSS engagement
driver_signal left_on,right_on,off Driver turn signal
turning_side right,left Actual turning side
cross_driver_signal_turning_side Cross coverage of driver's turn signal state and actual turn side

463.4 Checks

The check will fail if the following happens:

  • LDW is not in active state during the scenario

463.5 CSV files with Lane departure parameters

$FTX/packages/adas/LSS/LDW/test_suites/test_suite_definitions/ego_lateral_movement

  • ldw_lane_departure_main.csv
  • ldw_lane_departure.csv