336. SUT yield to NPC evaluation scenario

In the sut_yield_to_npc evaluation scenario, the Ego gives the right of way to the vehicle_actor that comes from a different road and then crosses the junction.

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

336.1 Actors

The actors associated with this scenario are as follows:

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

336.2 Scenario phases

The phase descriptions are as follows:

336.2.1 sut_stop_and_give_the_right_of_way

Ego: The Ego stops near the same junction as the vehicle_actor, 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.

vehicle_actor: The vehicle_actor is within the junction. The Ego has entered the same junction and comes from a different junction entry, and gives the right of way to the vehicle_actor.

336.2.2 other_car_finishes_crossing_junction

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

vehicle_actor: The vehicle_actor drives within the junction, and at the end of the phase is positioned between min_offset_from_junction_end and max_offset_from_junction_end from the junction end.

336.3 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:

336.4 Metrics

336.4.1 Coverage

336.4.2 KPI