320. Ego Laterally Encroach in Lane evaluation scenario
In the ego_laterally_encroach_in_lane evaluation scenario, the Ego laterally encroaches towards another vehicle in the same lane.
Scenario location: $FTX/logiq/scenario_library_post_match/adjacent_vehicles/ego_laterally_encroach_in_lane
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Vehicle to which the Ego approaches | vehicle |
 |
320.1 Scenario phases
The phase descriptions are as follows:
320.1.1 sut_laterally_encroach_in_lane
Ego: The Ego stays in the same lane at a maximum distance of max_lateral_distance from the vehicle_actor and drives at a lateral speed of at least min_lateral_speed.
vehicle_actor: The vehicle_actor drives in the same lane as the Ego, on the npc_relative_side_to_ego side of the Ego, with a longitudinal distance between a minimum of min_longitudinal_distance and a maximum of max_longitudinal_distance.
320.1.2 sut_near_npc_in_same_lane
Ego: The Ego stays in the same lane, keeping a maximum of max_lateral_distance from the vehicle_actor
vehicle_actor: The vehicle_actor drives in the same lane as the Ego, on the npc_relative_side_to_ego side
of the Ego, with a longitudinal distance between a minimum of min_longitudinal_distance and a maximum of max_longitudinal_distance.
320.2 Parameters
Use these parameters to constrain the scenario. If you do not set a specific value, the default value will be used.
| Parameter | Type | Description | Default value |
|---|---|---|---|
npc_relative_side_to_ego |
av_side | The side of the NPC relative to the Ego during the scenario (left or right). | There is no default value, the user must provide a value. |
min_lateral_speed |
speed | The minimum lateral speed of the Ego during the sut_laterally_encroach_in_lane phase. |
0.15 mps |
max_lateral_distance |
length | The maximum lateral distance between the Ego and the NPC during the entire scenario. | 5m |
min_longitudinal_distance |
length | The minimum longitudinal distance between the Ego and the NPC during the entire scenario. | -5m |
max_longitudinal_distance |
length | The maximum longitudinal distance between the Ego and the NPC during the entire scenario | 5m |
The input items inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:
| Parameter | Type | Description | Default value |
|---|---|---|---|
kinds |
list of evaluation_object_kind | The possible kinds of vehicle_actor in the scenario | No default value |
320.3 Metrics
320.3.1 Coverage
| Item | Description | Range | Unit/Type |
|---|---|---|---|
npc_relative_side_to_ego |
Side of the vehicle_actor relative to the Ego |
left, right | av_side |
[Click] The coverage items inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
vehicle_speed_at_start |
Speed of the agent at the start of the scenario | [0..150), every: 10.0 | mph |
[Click] The coverage items inherited from the sut.logiq_base_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_speed_at_start |
Longitudinal speed of the Ego at the start of the scenario | [0..160), every: 10.0 | mph |
320.3.2 KPI
[Click] The KPIs inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
vehicle_object_kind |
Object kind as derived from Foretify | object, person, cyclist, vehicle, truck, trailer, fod, animal, sign, bus, motorcycle, emergency_vehicle, stationary_vehicle | evaluation_object_kind |
vehicle_tracking_id |
The tracking id of the agent as described in the object list data. If the data comes from a generative run, the UID will be used | string | |
vehicle_avg_speed |
Average longitudinal speed of the agent throughout the scenario | mph | |
vehicle_max_speed |
Maximum speed of the agent throughout the scenario | mph | |
vehicle_min_speed |
Minimum speed of the agent throughout the scenario | mph | |
vehicle_max_lon_acceleration |
Maximum longitudinal acceleration of the agent throughout the scenario | mpsps | |
vehicle_min_lon_acceleration |
Minimum longitudinal acceleration of the agent throughout the scenario | mpsps | |
ego_min_ttc_to_vehicle |
Minimal time to collision with the reference vehicle throughout the scenario | s | |
ego_min_mttc_to_vehicle |
Minimal modified time to collision with the reference vehicle throughout the scenario | s |
[Click] The KPIs inherited from the sut.logiq_base_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_max_lon_acceleration |
Maximum acceleration of the Ego throughout the scenario | mpsps | |
ego_min_lon_acceleration |
Minimum acceleration of the Ego throughout the scenario | mpsps | |
ego_min_speed |
Minimum longitudinal speed of the Ego throughout the scenario | mph | |
ego_avg_speed |
Average longitudinal speed of the Ego throughout the scenario | mph | |
ego_max_speed |
Maximum longitudinal speed of the Ego throughout the scenario | mph | |
interval_duration |
Interval duration of the scenario | s |