345. Lead Vehicle U-Turn evaluation scenario
In the lead_vehicle_u_turn evaluation scenario, the vehicle_actor drives ahead of the Ego in the same lane, and the Ego follows it while the lead vehicle performs a U-turn.
Scenario location: $FTX/logiq/scenario_library_post_match/lead_vehicle/lead_vehicle_u_turn
345.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Lead vehicle | vehicle |
 |
345.2 Scenario phases
The phase descriptions are as follows:
345.2.1 lead_part
Ego: The Ego continues driving in the same lane and the yaw rate difference from the vehicle_actor is not within the
range of min_parallel_yaw_diff and max_parallel_yaw_diff.
vehicle_actor: The vehicle_actor drives ahead of the Ego in the same lane, maintaining a distance from the
Ego in the range between min_distance_from_sut_in_time_units and max_distance_from_sut_in_time_units during the entire phase.
345.2.2 u_turn
Ego: The Ego continues driving in the same lane and the yaw rate difference from the vehicle_actor is not within the
range of min_parallel_yaw_diff and max_parallel_yaw_diff or min_anti_parallel_yaw_diff and max_anti_parallel_yaw_diff.
vehicle_actor: The vehicle_actor starts to perform a U-turn, and the yaw rate difference is no longer aligned with its original lane, but also not yet aligned to the opposite lane.
345.2.3 finish_u_turn
Ego: The Ego continues driving in the same outgoing lane and the yaw rate difference from the
vehicle_actor is within the range of min_anti_parallel_yaw_diff and max_anti_parallel_yaw_diff.
vehicle_actor: The vehicle_actor completes the U-turn and continues driving in the oncoming lane adjacent to the Ego
and the yaw rate difference from the Ego is within the range of min_anti_parallel_yaw_diff and max_anti_parallel_yaw_diff.
345.3 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 |
|---|---|---|---|
min_lead_part_phase_duration |
time | Minimal time of the lead_part phase |
2sec |
max_lead_part_phase_duration |
time | Maximal time of the lead_part phase |
3sec |
max_u_turn_phase_duration |
time | Maximal time of the u_turn phase |
15sec |
max_finish_u_turn_phase_duration |
time | Maximal time of the finish_u_turn phase |
3sec |
min_finish_u_turn_phase_duration |
time | Minimal time of the finish_u_turn phase |
2sec |
lane_calculation_tolerance_length |
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 |
opposite_road_limit |
time | The time threshold for the vehicle_actor to be considered as driving on the opposite road as the Ego | 20sec |
min_parallel_yaw_diff |
angle | The minimal angle difference between the vehicle_actor and the Ego to be considered as parallel (same direction) | 340degree |
max_parallel_yaw_diff |
angle | The maximal angle difference between the vehicle_actor and the Ego to be considered as parallel (same direction) | 380degree |
min_anti_parallel_yaw_diff |
angle | The minimal angle difference between the vehicle_actor and the Ego to be considered as anti-parallel (opposite direction) | 160degree |
max_anti_parallel_yaw_diff |
angle | The maximal angle difference between the vehicle_actor and the Ego to be considered as anti-parallel (opposite direction) | 200degree |
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 |
345.4 Metrics
345.4.1 Coverage
[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 |
345.4.2 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 |