161. Oncoming Vehicle U-Turn evaluation scenario
In the oncoming_vehicle_u_turn evaluation scenario, the vehicle_actor drives in the lane adjacent to the Ego in the opposite direction to the Ego and performs a U-turn into the Ego's road.
Scenario location: $FTX/logiq/scenario_library_post_match/oncoming_vehicles/oncoming_vehicle_u_turn
161.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Oncoming vehicle | vehicle |
 |
161.2 Scenario phases
The phase descriptions are as follows:
161.2.1 oncoming_phase
Ego: The Ego drives in one lane.
vehicle_actor: The vehicle_actor drives in the adjacent lane, in the opposite direction to the Ego, at a distance ranging from 0m to max_distance_from_ego.
161.2.2 start_u_turn
Ego: The Ego drives in one lane, behind the vehicle_actor at a distance of not less than max_distance_from_ego.
vehicle_actor: The angle difference between the vehicles is still greater than 20 degrees (0 degrees means they are exactly in the same direction)
161.2.3 finish_u_turn
Ego: The Ego drives in one lane, behind the vehicle_actor at a distance of not less than max_distance_from_ego.
vehicle_actor: The vehicle_actor is on the same road as the Ego, with an angle difference between the vehicles not exceeding 20 degrees, indicating that they are traveling in the same direction.
161.3 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 |
|---|---|---|---|
max_distance_from_ego |
length | Maximal geometric distance from the Ego to the oncoming vehicle during the entire scenario | 100m |
max_end_phase_duration |
time | Maximal duration of the finish_u_turn phase |
3sec |
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 |
161.4 Metrics
161.4.1 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 |
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 |
161.4.2 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 |