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343. Lead Vehicle evaluation scenario

In the lead_vehicle evaluation scenario, the vehicle_actor drives ahead of the Ego in the same lane, and the Ego follows it.

Scenario location: $FTX/logiq/scenario_library_post_match/lead_vehicle/lead_vehicle

343.1 Actors

The actors associated with this scenario are as follows:

Actor Description Type Depiction
ego Vehicle under test vehicle
vehicle_actor Vehicle driving ahead of the Ego in the same lane vehicle
Figure 1: Lead vehicle

343.2 Scenario phases

The phase descriptions are as follows: Ego: The Ego drives in the same lane at a speed above ego_vehicle_min_moving_speed and maintains its position within the lane_departure_threshold tolerance.

343.3 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
minimum_scenario_duration time Minimum execution duration of the lead_vehicle scenario 2sec
lead_vehicle_min_moving_speed speed Minimal speed of the vehicle_actor. Designed to prevent false positive matches of vehicles that are standing still 1kph
lane_departure_threshold length The tolerance of lane calculation 1m
same_road_limit time The time threshold for the vehicle_actor to be considered as driving on the same road as the Ego 10sec
minimum_time_gap_threshold time Minimum time gap for a vehicle to qualify as the lead_vehicle 0.1s
minimum_distance_threshold length Minimum distance for a vehicle to qualify as the lead_vehicle 1m
maximum_time_gap_threshold_start time Maximum time gap for a vehicle to qualify as the lead_vehicle for the start condition 8s
maximum_distance_threshold_start length Maximum distance for a vehicle to qualify as the lead_vehicle for the start condition 80m
maximum_time_gap_threshold_end time Maximum time gap for a vehicle to qualify as the lead_vehicle for the end condition 10s
maximum_distance_threshold_end length Maximum distance for a vehicle to qualify as the lead_vehicle for the end condition 100m
ego_vehicle_min_moving_speed speed Minimum speed of the Ego to match the scenario 1kph

The input items inherited from the sut.logiq_base_lane_following_scenario scenario are as follows:

Parameter Type Description Default value
min_distance_from_sut_in_time_units time Minimal headway distance between the Ego and the vehicle actor 0sec
max_distance_from_sut_in_time_units time Maximal headway distance between the Ego and the vehicle actor 5sec

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

343.4 Metrics

343.4.1 Coverage

Item Description Range Unit/Type
lead_vehicle_min_moving_speed Minimal speed [0..60), every: 10.0 kph
min_vehicle_distance Minimum distance gap throughout the scenario [0..100), every: 10.0 m
min_time_gap Minimum time gap between the Ego and the lead_vehicle [0..10), every: 1.0 s
[Click] The coverage items inherited from the sut.logiq_base_lane_following_scenario scenario are as follows:
Item Description Range Unit/Type
ego_min_distance_to_vehicle Minimum distance gap throughout the scenario [0..200), every: 20.0 m
[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

343.4.2 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 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