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154. Lead Vehicle With Traffic On Side

In the lead_vehicle_with_traffic_on_side evaluation scenario, the vehicle_actor drives ahead of the Ego in the same lane, and the Ego follows it while there is traffic on both sides of the Ego.

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

154.1 Actors

The actors associated with this scenario are as follows:

Actor Description Type Depiction
ego Vehicle under test vehicle
vehicle_actor Lead vehicle vehicle
Figure 1: Lead vehicle with traffic on side

154.2 Scenario phases

The phase descriptions are as follows:

154.2.1 sut_blocked

Ego: The Ego drives in one lane. There is traffic on both sides of the Ego with a maximal headway of time_ahead_sut_where_lane_occupied ahead of the Ego and time_behind_sut_where_lane_occupied behind the Ego.

vehicle_actor: The vehicle_actor drives ahead of the Ego in the same lane and remains close to the Ego at a distance range between min_distance_from_sut_in_time_units and max_distance_from_sut_in_time_units.

154.3 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
time_ahead_sut_where_lane_occupied time Headway maximal distance between the Ego to any vehicle on the side ahead of the Ego 1sec
time_behind_sut_where_lane_occupied time Headway maximal distance between the Ego to any vehicle on the side behind the Ego 1sec

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

154.4 Metrics

154.4.1 Coverage

Item Description Range Unit/Type
lead_speed_at_end Lead vehicle speed at the end of the scenario [0..150), every: 10.0 kph
right_lead_vehicle_speed_at_end Right lead vehicle speed at the end of the scenario [0..150), every: 10.0 kph
left_lead_vehicle_speed_at_end Left lead vehicle speed at the end of the scenario [0..150), every: 10.0 kph
[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 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

154.4.2 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