352. Narrow Oncoming NPC Lateral Incursion evaluation scenario
In the narrow_oncoming_npc_lateral_incursion evaluation scenario, the vehicle_actor and the Ego are approaching each other from opposite driving directions. The vehicle_actor veers into the Ego's path in the oncoming lane.
Scenario location: $FTX/logiq/scenario_library_post_match/oncoming_vehicles/narrow_oncoming_npc_lateral_incursion
352.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Oncoming vehicle | vehicle |
 |
352.2 Scenario phases
The phase descriptions are as follows:
352.2.1 veering_phase
Ego: The Ego drives in the oncoming lane.
vehicle_actor: The vehicle_actor drives in the outgoing lane, to the left of the Ego, keeping a maximum distance of
max_distance_from_ego from the Ego and veers into the oncoming lane, with at least
veer_from_lane_threshold of the vehicle_actor entering the Ego's lane.
352.2.2 oncoming_phase
Ego: The Ego drives in the oncoming lane.
vehicle_actor: The vehicle_actor keeps driving in the outgoing lane, keeping a maximum distance of
max_distance_from_ego from the Ego.
352.3 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_distance_from_ego |
length | Minimal geometric distance from the Ego to the oncoming vehicle during the entire scenario | 0m |
max_distance_from_ego |
length | Maximal geometric distance from the Ego to the oncoming vehicle during the entire scenario | 80m |
min_veering_phase_duration |
time | The minimal duration of the veering_phase phase |
0.5s |
max_oncoming_phase_duration |
time | The maximal duration of the oncoming_phase phase |
8s |
veer_from_lane_threshold |
float | The threshold at which the vehicle veers from its lane into the oncoming lane. Should be a float number from 0 to 1 representing the portion of the vehicle that veers. A veer_threshold of 0.5 means that at least half of the vehicle's width must be outside the lane. | 0.1 |
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 |
352.4 Metrics
352.4.1 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 |
352.4.2 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 |