342. Unprotected left turn with yield and traffic light evaluation scenario
In the unprotected_left_turn_with_yield_and_traffic_light evaluation scenario, the Ego makes an unprotected left turn at a traffic-light-controlled junction. At a green light, the Ego yields to an approaching vehicle_actor, waiting for it to cross before completing the turn.
Scenario location: $FTX/logiq/scenario_library_post_match/junctions/unprotected_left_turn_with_yield_and_traffic_light
342.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Vehicle actor | vehicle |
 |
342.2 Scenario phases
The phase descriptions are as follows:
342.2.1 stop_in_green_light
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 and gives the right of way to the vehicle_actor.
Its speed ranges from 0 kph up to stopping_car_speed_limit, and it is inside the range of max_offset_from_traffic_light from the traffic light.
The Ego is turning left at the end of the scenario.
vehicle_actor: The vehicle_actor is within the same junction as the Ego, positioned between
min_offset_from_junction_start and max_offset_from_junction_start from the junction start
342.2.2 sut_yield_to_npc
Ego: At the start of the phase, the Ego is positioned between min_offset_from_junction_start and max_offset_from_junction_start from the
junction start, in the same junction as the vehicle_actor, which is approaching from a different entry, and gives the right of way to the vehicle_actor.
vehicle_actor: The vehicle_actor is inside the junction.
342.2.3 other_car_finishes_crossing_junction
Ego: The Ego gives the right of way to the vehicle_actor.
vehicle_actor: The vehicle_actor is in the shared area where its path intersects with the Ego's path inside the junction,
positioned between min_offset_from_junction_end and max_offset_from_junction_end from the junction end.
342.2.4 sut_turn_left
Ego: The Ego is inside the junction, turning left, and maintains a distance of at least min_offset_from_junction_start
from the junction start throughout the entire phase.
342.3 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_offset_from_traffic_light |
length | The maximum forward distance within which a traffic lights should be detected ahead of the Ego | 10m |
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 |
342.4 Metrics
342.4.1 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 |
Speed of the agent at the 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 |
Longitudinal speed of the Ego at the start of the scenario | [0..160), every: 10.0 | mph |
342.4.2 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 |
Average longitudinal speed of the agent throughout the scenario | mph | |
vehicle_max_speed |
Maximum speed of the agent throughout the scenario | mph | |
vehicle_min_speed |
Minimum speed of the agent throughout the scenario | mph | |
vehicle_max_lon_acceleration |
Maximum longitudinal acceleration of the agent throughout the scenario | mpsps | |
vehicle_min_lon_acceleration |
Minimum longitudinal acceleration of the agent 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 |
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 |