347. Lead Vehicle With Cut In evaluation scenario
In the lead_vehicle_with_cut_in evaluation scenario, the vehicle_actor drives ahead of the Ego in the same lane, and the Ego follows it. Then, the cut_in_vehicle changes lanes into the Ego's lane, positioning itself between the vehicle_actor and the Ego.
Scenario location: $FTX/logiq/scenario_library_post_match/lead_vehicle/lead_vehicle_with_cut_in
347.1 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 |
 |
cut_in_vehicle |
Vehicle that cuts in front of the Ego | vehicle |
 |
347.2 Scenario phases
The phase descriptions are as follows:
347.2.1 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, maintaining a distance from
the Ego in the range between minimal_longitudinal_distance_from_lead_vehicle and maximal_longitudinal_distance_from_lead_vehicle during the entire phase.
cut_in_vehicle: The cut_in_vehicle drives in a lane adjacent to the Ego and the vehicle_actor, ahead of the Ego, and maintains a distance from the Ego in the range between
minimal_longitudinal_distance_from_cut_in_vehicle and maximal_longitudinal_distance_from_cut_in_vehicle during the entire phase.
347.2.2 cut_in_vehicle_change_lane
Ego: The Ego drives in one lane, behind the vehicle_actor.
vehicle_actor: The vehicle_actor drives in the same lane as the Ego
cut_in_vehicle: The cut_in_vehicle changes lanes into the Ego's lane, ahead of the Ego, and maintains a distance from the Ego in the range between
minimal_longitudinal_distance_from_cut_in_vehicle and maximal_longitudinal_distance_from_cut_in_vehicle during the entire phase.
347.3 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 | Maximal time of the lead_vehicle_with_adjacent_vehicle phase, which is the main phase of the scenario |
1sec |
max_lead_part_phase_duration |
time | Maximal time of the lead_vehicle_with_adjacent_vehicle phase, which is the main phase of the scenario |
8sec |
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 |
minimal_longitudinal_distance_from_lead_vehicle |
length | The minimal longitudinal distance between the Ego and the lead_vehicle during the scenario |
0m |
maximal_longitudinal_distance_from_lead_vehicle |
length | The maximal longitudinal distance between the Ego and the lead_vehicle during the scenario |
100m |
minimal_longitudinal_distance_from_cut_in_vehicle |
length | The minimal longitudinal distance between the Ego and the cut_in_vehicle during the scenario |
0m |
maximal_longitudinal_distance_from_cut_in_vehicle |
length | The maximal longitudinal distance between the Ego and the cut_in_vehicle during the scenario |
100m |
same_road_limit |
time | The time threshold for the vehicle_actor to be considered as driving on the same road as the Ego | 10sec |
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 |
347.4 Metrics
347.4.1 Coverage
[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 |
347.4.2 KPI
| Item | Description | Range | Unit/Type |
|---|---|---|---|
cut_in_vehicle_tracking_id |
The tracking id of the cut_in_vehicle 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_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 |