365. NPC Entering Lane From Left evaluation scenario
In the npc_entering_lane_from_left evaluation scenario, the vehicle_actor starts driving off the road, on the left side of the road, then enters the Ego's lane ahead of the Ego.
Scenario location: $FTX/logiq/scenario_library_post_match/vehicle_merge/npc_entering_lane_from_left
365.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Merging vehicle | vehicle |
 |
365.2 Scenario phases
The phase descriptions are as follows:
365.2.1 off_road_phase
vehicle_actor: The vehicle_actor drives with at least veer_from_lane_threshold off the road.
365.2.2 entering_lane_phase
vehicle_actor: The vehicle_actor is beginning to merge onto the road.
365.2.3 merged_phase
Ego: The Ego is driving in the same lane, behind the vehicle_actor.
vehicle_actor: The vehicle_actor is driving ahead of the Ego in the same lane.
365.3 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_off_road_phase_duration |
time | Minimal time of the off_road_phase phase |
0sec |
max_off_road_phase_duration |
time | Maximal time of the off_road_phase phase |
3sec |
min_merged_phase_duration |
time | Minimal time of the merged_phase phase |
0sec |
max_merged_phase_duration |
time | Maximal time of the merged_phase phase |
3sec |
veer_from_lane_threshold |
float | The threshold for the vehicle_actor to be considered as veering from the lane | 1 |
minimal_lateral_distance |
length | The minimal lateral distance from the left lane boundary, should be positive to indicate the left side. For example, 1m means the vehicle left edge is at least 1 meter off the left lane boundary. | 3m |
minimal_distance_ahead_of_ego |
length | The minimal distance ahead of the Ego the vehicle actor should be while merging onto the road. | 0.5m |
maximal_distance_ahead_of_ego |
length | The maximal distance ahead of the Ego the vehicle actor should be while merging onto the road. | 80m |
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 |
365.4 Metrics
365.4.1 Coverage
| Item | Description | Range | Unit/Type |
|---|---|---|---|
entering_lane_side |
The vehicle_actor's merging side | left, right | av_side |
[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 |
365.4.2 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 |