338. NPC yield to SUT evaluation scenario

In the npc_yield_to_sut evaluation scenario, the vehicle_actor gives the right of way to the Ego that comes from a different junction entry and then crosses the junction. The junction may have road markings or signs, but does not have traffic lights.

Scenario location: $FTX/logiq/scenario_library_post_match/junctions/npc_yield_to_sut

338.1 Actors

The actors associated with this scenario are as follows:

Actor	Description	Type	Depiction
ego	Vehicle under test	vehicle
vehicle_actor	Vehicle actor	vehicle

338.2 Scenario phases

The phase descriptions are as follows:

338.2.1 car1_stop_and_give_the_right_of_way

Ego: The Ego is within the junction, and the vehicle actor, located at the same junction and coming from a different junction entry, gives the right of way to the Ego.

vehicle_actor: The vehicle_actor stops near the same junction as the Ego, positioned between min_offset_from_junction_start and max_offset_from_junction_start from the junction start. Its speed ranges from 0 kph up to stopping_car_speed_limit, and it is outside the no_traffic_light_ahead_distance from any traffic light.

338.2.2 sut_finishes_crossing_junction

Ego: The Ego drives within the junction and by the end of the phase is positioned between min_offset_from_junction_end and max_offset_from_junction_end from the junction end.

vehicle_actor: The vehicle_actor gives the right of way to the Ego, while remaining outside the range of min_offset_from_junction_end and max_offset_from_junction_end from the junction end.

338.3 Parameters

Use these parameters to constrain the scenario. If you do not set a specific value, the default value will be used.

The input items inherited from the sut.logiq_yield_scenario scenario are as follows:

The input items inherited from the sut.logiq_sut_and_npc_in_junction_scenario scenario are as follows:

The input items inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:

338.4 Metrics

338.4.1 Coverage

338.4.2 KPI