157. Lead Vehicle with Adjacent Vehicle evaluation scenario
In the lead_vehicle_with_adjacent_vehicle evaluation scenario, the Ego is driving in one lane of the road with a lead vehicle ahead of it and an adjacent vehicle in the adjacent lane. The scenario designed to detect a potential cut-in of the adjacent vehicle. This scenario does not match if the Ego is driving in a junction.
Scenario location: $FTX/logiq/scenario_library_post_match/lead_vehicle/lead_vehicle_with_adjacent_vehicle
157.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Lead vehicle | vehicle |
 |
adjacent_vehicle |
Adjacent vehicle | vehicle |
 |
157.2 Scenario phases
The phase descriptions are as follows:
157.2.1 lead_vehicle_with_adjacent_vehicle
Ego: The Ego drives in one lane.
vehicle_actor: The vehicle_actor drives ahead of the Ego in the same lane, at a distance between
minimal_longitudinal_distance_from_lead_vehicle and maximal_longitudinal_distance_from_lead_vehicle.
adjacent_vehicle: The adjacent_vehicle drives in the lane adjacent to the Ego and the vehicle_actor, at a distance between
minimal_longitudinal_distance_from_adjacent_vehicle and maximal_longitudinal_distance_from_adjacent_vehicle.
157.3 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 |
|---|---|---|---|
minimal_scenario_duration |
time | The minimal duration of the scenario | 2s |
minimal_longitudinal_distance_from_lead_vehicle |
length | The minimal longitudinal distance between the Ego and the lead_vehicle during the scenario |
20m |
maximal_longitudinal_distance_from_lead_vehicle |
length | The maximal longitudinal distance between the Ego and the lead_vehicle during the scenario |
60m |
minimal_longitudinal_distance_from_adjacent_vehicle |
length | The minimal longitudinal distance between the Ego and the adjacent_vehicle during the scenario |
5m |
maximal_longitudinal_distance_from_adjacent_vehicle |
length | The maximal longitudinal distance between the Ego and the adjacent_vehicle during the scenario |
30m |
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 |
157.4 Metrics
157.4.1 Coverage
| Item | Description | Range | Unit/Type |
|---|---|---|---|
lat_dist_to_ego_lane_center_at_start |
The lateral distance from the closest edge of the adjacent_vehicle to the lane center of the Ego at the start of the scenario | [0..8), every: 1.0 | m |
adjacent_vehicle_side |
Side of adjacent_vehicle relative to Ego | left, right | av_side |
lat_dist_to_ego_lane_center_at_end |
The lateral distance from the closest edge of the adjacent_vehicle to the lane center of the Ego at the end of the scenario | [0..8), every: 1.0 | m |
adjacent_vehicle_tracking_id |
The tracking id of the adjacent_vehicle as described in the object list data. If the data comes from a generative run, the uid will be used | string |
[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 |
157.4.2 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 |