331. Ego Pullout From Right evaluation scenario
In the ego_pullout_from_right evaluation scenario, the Ego pulls out of a space in the parking lane on the right side of the road, merges onto the road, and then begins driving.
Scenario location: $FTX/logiq/scenario_library_post_match/ego_merge/ego_pullout_from_right
331.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
331.2 Scenario phases
The phase descriptions are as follows:
331.2.1 ego_stop
Ego The Ego is parked on the side of the road with a speed below max_standstill_speed.
It is positioned on the rightmost lane within a lateral distance of less than max_lateral_distance from the lane right boundary to the Ego's rightmost point.
The Ego maintains a distance of at least minimal_offset_from_junction_start from a junction entry.
Its yaw angle is within the range of min_parallel_parking_angle_diff to max_angle_diff relative to the lane.
331.2.2 pulling_out
Ego: The Ego turns the steering wheel to merge onto the road, maintaining a turn angle within the range of min_merge_turn_angle to max_merge_turn_angle
relative to its lane. Initially, the Ego starts driving at a speed up to min_driving_speed as it begins merging onto the road.
Once the Ego reaches or exceeds min_driving_speed, it is considered to have merged and continues driving.
331.3 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 |
|---|---|---|---|
max_standstill_speed |
speed | Maximum speed of the Ego to be considered as stopped | 1kph |
min_driving_speed |
speed | Minimal speed of the Ego to be considered as driving | 10kph |
min_ego_stop_phase_duration |
time | Minimal time of the ego_stop phase |
1sec |
max_ego_stop_phase_duration |
time | Maximal time of the ego_stop phase |
3sec |
max_ego_merging_phase_duration |
time | Maximal time of the ego_merging phase |
15sec |
max_ego_merged_phase_duration |
time | Maximal time of the ego_merged phase |
3sec |
min_parallel_parking_angle_diff |
angle | The minimum angle difference between the Ego and its lane for the parking to be considered parallel | 345degree |
max_parallel_parking_angle_diff |
angle | The maximum angle difference between the Ego and its lane for the parking to be considered parallel | 375degree |
max_lateral_distance |
length | A negative offset from the start of the junction. If the Ego is within this offset (e.g., -7 meters indicates 7 meters before the junction start), the scenario will not be captured. | 0.4m |
minimal_offset_from_junction_start |
length | The minimal distance from a junction | -7m |
min_merge_turn_angle |
angle | The minimum acceptable turning angle between the Ego and its lane when pulling out of a parking space to merge onto the road | 1.5degree |
max_merge_turn_angle |
angle | The maximum acceptable turning angle between the Ego and its lane when pulling out of a parking space to merge onto the road | 40degree |
331.4 Metrics
331.4.1 Coverage
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_lane_width_at_start |
Lane width of the Ego at the start of the scenario | [0..40), every: 2.5 | m |
distance_to_front_parked_car |
Distance from the Ego to the front parked car. If the distance is greater than max_adjacent_parking_distance meters, this cover point is ignored |
[0..5), every: 0.5 | m |
distance_to_rear_parked_car |
Distance from the Ego to the rear parked car. If the distance is greater than max_adjacent_parking_distance meters, this cover point is ignored |
[0..5), every: 0.5 | m |
space_available_in_parking_spot |
Space available between the front and rear parked cars for the Ego to pull over and park. If the space is greater than max_parking_spot_length meters, this cover point is ignored. This cover point might appear even if distance_to_front_parked_car or distance_to_rear_parked_car is ignored |
[0..15), every: 0.5 | m |
[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 |
331.4.2 KPI
[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 |