147. NPC yield to Ego with crossing paths evaluation scenario
In the npc_yield_to_sut_with_crossing_paths evaluation scenario, the NPC gives the right of way to the SUT with a shared area between their paths inside the junction.
Scenario location: $FTX/logiq/scenario_library_post_match/junctions/npc_yield_to_sut_with_crossing_paths
147.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Vehicle actor | vehicle |
 |
147.2 Scenario phases
The phase descriptions are as follows:
147.2.1 npc_stops_and_gives_the_right_of_way
Ego: The Ego is within the junction, and the vehicle_actor, located at the same junction, comes from a different road. The Ego has not yet entered the shared area where its path intersects with the vehicle_actor's path inside the junction.
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 and gives the right of way to the Ego.
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.
147.2.2 sut_in_encroachment_area_and_npc_yields
Ego: The Ego is in the shared area where its path intersects with the vehicle_actor's path inside the junction.
vehicle_actor: The vehicle_actor has not yet entered the shared area where its path intersects with the Ego's path inside the junction.
147.2.3 encroachment_area_is_clear
Ego: The Ego has finished crossing the shared area where its path intersects with the vehicle_actor's path inside the junction.
vehicle_actor: The vehicle_actor has not yet entered the shared area where its path intersects with the Ego's path inside the junction.
147.2.4 npc_in_encroachment_area
vehicle_actor: The vehicle_actor is in the shared area where its path intersects with the Ego's path inside the junction.
147.3 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 |
|---|---|---|---|
no_traffic_light_ahead_distance |
length | The forward distance within which no traffic lights should be detected ahead of the vehicle_actor | 20m |
The input items inherited from the sut.logiq_crossing_path_scenario scenario are as follows:
| Parameter | Type | Description | Default value |
|---|---|---|---|
encroachment_start_buffer |
float | Specify a part from the beginning of the encroachment area that will be excluded from it (i.e. in this area, the modifier will still return false). For example: start_buffer 0.25 means only the last 75% of the encroachment will be considered as part of the encroachment | 0.25 |
encroachment_end_buffer |
float | Specify a part from the end of the the encroachment area that will be excluded from it(i.e. in this area, the modifier will still return false). For example: end_buffer 0.25 means only the first 75% of the encroachment will be considered as part of the encroachment | 0.25 |
The input items inherited from the sut.logiq_yield_scenario scenario are as follows:
| Parameter | Type | Description | Default value |
|---|---|---|---|
max_offset_from_junction_start |
length | The maximal distance from an actor to the junction start | 10m |
ref_car_max_distance_from_junction |
length | Maximum distance (in length units) from the junction for the reference vehicle to be considered inside the junction | 10m |
stopping_car_speed_limit |
speed | The maximal speed of an actor to be considered as stopped | 2kph |
The input items inherited from the sut.logiq_sut_and_npc_in_junction_scenario scenario are as follows:
| Parameter | Type | Description | Default value |
|---|---|---|---|
min_offset_from_junction_start |
length | The minimal offset from the junction start; negative values indicate positions behind the junction start | -10m |
min_offset_from_junction_end |
length | The minimal offset from the junction end; negative values indicate positions behind the junction end | -5m |
max_offset_from_junction_end |
length | The maximal offset from the junction end; positive values indicate positions after the junction end | 5m |
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 |
147.4 Metrics
147.4.1 Coverage
| Item | Description | Range | Unit/Type |
|---|---|---|---|
traversal_relative_direction |
The traverse direction of the vehicle_actor relative to the Ego | parallel_to_right, parallel_to_parallel, parallel_to_left, parallel_to_opposite, right_to_parallel, right_to_left, right_to_opposite, right_to_right, opposite_to_opposite, opposite_to_right, opposite_to_left, opposite_to_parallel, left_to_parallel, left_to_right, left_to_opposite, left_to_left, unknown | traversal_relative_direction |
[Click] The coverage items inherited from the sut.logiq_crossing_path_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
PET_between_sut_and_npc |
The minimal time between the first vehicle exiting an encroachment point and the second vehicle entering that point. Note: Compound physical objects are not fully supported, and may yield incorrect results. |
[0..10), every: 1.0 | s |
[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 |
147.4.2 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 |