148. Ego Traverse Junction With VRU evaluation scenario
In the ego_traverse_junction_with_vru evaluation scenario, the Ego drives through a junction while a VRU is inside the junction.
Scenario location: $FTX/logiq/scenario_library_post_match/junctions/ego_traverse_junction_with_vru
148.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vru |
VRU | plain_object |
 |
148.2 Scenario phases
The phase descriptions are as follows:
148.2.1 sut_in_junction_and_vru_on_road
Ego: The Ego drives inside the junction or within the distance of min_offset_from_junction_start.
VRU: The VRU in the same junction as the Ego.
148.2.2 sut_in_junction
Ego: The Ego is driving in the junction.
148.2.3 sut_exit_junction
Ego: The Ego exits the junction and is at a distance between min_offset_from_junction_end and max_offset_from_junction_end from the junction's end.
148.3 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 |
|---|---|---|---|
sut_max_distance_from_junction |
length | The maximal distance from the Ego to the junction | 10m |
min_offset_from_junction_start |
length | The minimal distance from the Ego to the junction start | -10m |
min_offset_from_junction_end |
length | The minimal distance from the Ego to the junction end | -5m |
max_offset_from_junction_end |
length | The maximal distance from the Ego to the junction end | 5m |
148.4 Metrics
148.4.1 Coverage
| Item | Description | Range | Unit/Type |
|---|---|---|---|
vru_conflict_group |
The VRU conflict group is determined by the VRU's location within the junction and the direction it crosses from | UNDEFINED, VRU_LD_incoming_road_farside, VRU_LD_incoming_road_nearside, VRU_LD_outgoing_road_from_farside, VRU_LD_outgoing_road_from_nearside, VRU_LD_in_junction_from_nearside, VRU_LD_in_junction_from_farside, VRU_OD_in_junction, VRU_SD_in_junction, NO_CONFLICT | vru_conflict_group |
[Click] The coverage items inherited from the sut.logiq_base_object_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
object_kind |
Object kind of object, as derived from Foretify |
object, person, cyclist, vehicle, truck, trailer, fod, animal, sign, bus, motorcycle, emergency_vehicle, stationary_vehicle | evaluation_object_kind |
[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 |
148.4.2 KPI
[Click] The KPIs inherited from the sut.logiq_base_object_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
object_tracking_id |
The tracking id of the object as described in the object list data. If the data comes from a generative run, the UID will be used | string |
[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 |