354. SUT yields to crossing VRU evaluation scenario
In the sut_yields_to_crossing_vru evaluation scenario, the Ego gives the right of way to a VRU crossing the road.
Scenario location: $FTX/logiq/scenario_library_post_match/plain_objects/sut_yields_to_crossing_vru
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
crossing_vru |
Crossing VRU | plain_object |
 |
354.1 Scenario phases
The phase descriptions are as follows:
354.1.1 vru_on_the_side
Ego: The Ego is driving and located behind the crossing_vru with a maximal distance of crossing_vru_maximal_longitudinal_distance_from_ego.
crossing_vru: The crossing_vru is located adjacent to the Ego, with a lateral distance between crossing_vru_minimal_lateral_distance_from_ego and crossing_vru_maximal_lateral_distance_from_ego.
The side where the crossing_vru is located is crossing_vru_side_relative_to_ego_at_start.
354.1.2 sut_slows_down
Ego: The Ego is still located behind the crossing_vru with a maximal distance of crossing_vru_maximal_longitudinal_distance_from_ego.
The Ego slows down or stops to yield to the crossing_vru. The Ego should slow down with a maximal deceleration of max_acceleration_for_yield
or stop at a speed that is less than standstill_speed. The Ego should not be near a traffic light with a "stop" state within max_offset_from_traffic_light.
crossing_vru: The crossing_vru is located ahead of the Ego.
354.1.3 vru_on_the_other_side
Ego: The Ego is located behind the crossing_vru with a maximal distance of crossing_vru_maximal_longitudinal_distance_from_ego.
crossing_vru: The crossing_vru is located adjacent to the Ego, with a lateral distance between crossing_vru_minimal_lateral_distance_from_ego and crossing_vru_maximal_lateral_distance_from_ego.
The side where the crossing_vru is located is crossing_vru_side_relative_to_ego_at_end.
354.2 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 |
|---|---|---|---|
crossing_vru_side_relative_to_ego_at_start |
av_side | The side of the road the crossing_vru starts from, either left or right | There is no default value. |
crossing_vru_side_relative_to_ego_at_end |
av_side | The side of the road the crossing_vru ends, which should be opposite to the start_side | There is no default value. |
max_acceleration_for_yield |
acceleration | The maximal acceleration for the Ego to consider yielding to the crossing_vru (should be negative, as the Ego should slow down) | -1mpsps. |
standstill_speed |
speed | The speed at which the Ego is considered stopping to yield to the crossing_vru | 2kph. |
crossing_vru_minimal_lateral_distance_from_ego |
length | The minimum lateral distance between the Ego and the crossing VRU at the start and end of the scenario, measured center-to-center. This indicates the crossing extent - for example, 1m per side totals a 2m crossing distance in front of the Ego. | 1m |
crossing_vru_maximal_lateral_distance_from_ego |
length | The maximal lateral distance between the Ego and the crossing_vru during the scenario | There is no default value. |
crossing_vru_maximal_longitudinal_distance_from_ego |
length | The maximal longitudinal distance between the Ego and the crossing_vru during the scenario | There is no default value. |
max_offset_from_traffic_light |
length | The distance from a traffic light with a "stop" state within which the scenario will not be captured. (For example, if set to 20 meters, the scenario will not be captured if the Ego is within 20 meters of the traffic light displaying "stop".) | 20m |
354.3 Metrics
354.3.1 Coverage
[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 |
354.3.2 KPI
[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 |
sut.sut_yields_to_crossing_vru(crossing_vru_side_relative_to_ego_at_start: right,
crossing_vru_side_relative_to_ego_at_end: left, speed_limit_for_stopping: 5kph,
crossing_vru_maximal_lateral_distance_from_ego: 5m, crossing_vru_maximal_longitudinal_distance_from_ego: 10m)