143. Ego traverse junction with NPC evaluation scenario
In the ego_traverse_junction_with_npc evaluation scenario, the Ego traverses a junction while there is an NPC in the same junction.
Scenario location: $FTX/logiq/scenario_library_post_match/junctions/ego_traverse_junction_with_npc
143.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Vehicle actor | vehicle |
 |
143.2 Scenario phases
The phase descriptions are as follows:
143.2.1 sut_and_npc_in_junction
Ego: The Ego is less than max_distance_from_junction away from a junction.
vehicle_actor: The vehicle_actor is inside the junction.
143.2.2 sut_crossing_within_junction
Ego: The Ego drives within the junction.
143.2.3 sut_finishes_crossing_junction
Ego: The Ego reaches the end of the junction.
143.3 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_distance_from_junction |
length | The distance from the Ego to the junction start | 10m |
The input items inherited from the sut.logiq_sut_and_npc_in_junction_scenario scenario are as follows:
| Parameter | Type | Description | Default value |
|---|---|---|---|
min_offset_from_junction_start |
length | The minimal offset from the junction start; negative values indicate positions behind the junction start | -10m |
min_offset_from_junction_end |
length | The minimal offset from the junction end; negative values indicate positions behind the junction end | -5m |
max_offset_from_junction_end |
length | The maximal offset from the junction end; positive values indicate positions after the junction end | 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 |
143.4 Metrics
143.4.1 Coverage
| Item | Description | Range | Unit/Type |
|---|---|---|---|
lane_gap_post_junction |
Number of lane changes between the two actor's lanes after crossing a junction | 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 | int |
conflict_group |
conflict group of the two actors | NO_CONFLICT, UNKNOWN, agent_OD_turning_crossing, agent_LD_nearside_turning_OD, agent_OD_u_turn, agent_LD_nearside_turning_SD, agent_LD_farside_turning_SD, TAP_OD, TAP_LD_farside_straight, TAP_LD_farside_turning, TAP_LD_nearside_turning, TAP_OD_turning_farside, LTAP_ODRT, LTIP_OD, TIP_LD_from_nearside, LTIP_LDU, LTIP_LTRS, TAP_SD, RTIP_OD, TIP_LD_from_farside, RTIP_RDU, RTIP_RSRT, RTIP_LSRT, RTASSP_RSLLC, TIP_uturn_OD, TIP_uturn_LD_farside, TIP_uturn_LD_nearside, UTAP_OD_turn_nearside, UTAP_OD_turn_farside, UTAP_LD_from_farside, UTAP_LD_from_nearside, SCP_LD_nearside, SCP_LD_farside, agent_SD_turning, UNDEFINED | conflict_group |
[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 |
Agent speed at 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 |
Ego longitudinal speed at the start of the scenario | [0..160), every: 10.0 | mph |
143.4.2 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 |
Agent average longitudinal speed throughout the scenario | mph | |
vehicle_max_speed |
Agent maximum speed throughout the scenario | mph | |
vehicle_min_speed |
Agent minimum speed throughout the scenario | mph | |
vehicle_max_lon_acceleration |
Agent maximum longitudinal acceleration throughout the scenario | mpsps | |
vehicle_min_lon_acceleration |
Agent minimum longitudinal acceleration 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 |
Ego maximum acceleration throughout the scenario | mpsps | |
ego_min_lon_acceleration |
Ego minimum acceleration throughout the scenario | mpsps | |
ego_min_speed |
Ego minimum longitudinal speed throughout the scenario | mph | |
ego_avg_speed |
Ego average longitudinal speed throughout the scenario | mph | |
ego_max_speed |
Ego maximum longitudinal speed throughout the scenario | mph | |
interval_duration |
Interval duration of the scenario | s |