360. Vehicle Cut Out evaluation scenario
In the vehicle_cut_out evaluation scenario, the vehicle_actor drives ahead of the Ego in the same lane, with the Ego following it. Then, the vehicle_actor changes lanes.
Scenario location: $FTX/logiq/scenario_library_post_match/vehicle_cut_out/vehicle_cut_out
360.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Cut out vehicle | vehicle |
 |
360.2 Scenario phases
The phase descriptions are as follows:
360.2.1 start_scenario_cut_out
Ego: The Ego is driving in the same lane as the vehicle_actor, following behind it.
vehicle_actor: The vehicle_actor drives ahead of the Ego in the same lane and remains close to the Ego
at a distance between min_distance_from_sut_in_time_units and max_distance_from_sut_in_time_units.
360.2.2 side_of_ego_lane
Ego: The Ego continues driving in the same lane.
vehicle_actor: The vehicle_actor changes lanes and continues driving in the lane adjacent to the Ego.
360.3 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 |
|---|---|---|---|
min_start_scenario_phase_duration |
time | Minimal time of the start_scenario_cut_out phase |
1sec |
max_start_scenario_phase_duration |
time | Maximal time of the start_scenario_cut_out phase |
3sec |
min_side_of_lane_phase_duration |
time | Minimal time of the side_of_ego_lane phase |
0.5sec |
max_side_of_ego_lane_phase_duration |
time | Maximal time of the side_of_ego_lane phase |
3sec |
same_road_limit |
time | The time threshold for the vehicle_actor to be considered as driving on the same road as the Ego | 10sec |
The input items inherited from the sut.logiq_base_lane_following_scenario scenario are as follows:
| Parameter | Type | Description | Default value |
|---|---|---|---|
min_distance_from_sut_in_time_units |
time | Minimal headway distance between the Ego and the vehicle actor | 0sec |
max_distance_from_sut_in_time_units |
time | Maximal headway distance between the Ego and the vehicle actor | 5sec |
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 |
360.4 Metrics
360.4.1 Coverage
| Item | Description | Range | Unit/Type |
|---|---|---|---|
agent_speed_at_change_lane |
The speed of the vehicle_actor at the time of the lane change | [0..150), every: 10.0 | mph |
distance_at_change_lane |
The distance between the vehicle_actor and the Ego at the time of the lane change | [0..200), every: 10.0 | m |
side_of_npc_relative_to_ego_after_lane_change |
The side of the vehicle_actor relative to the Ego after the lane change | left, right | av_side |
[Click] The coverage items inherited from the sut.logiq_base_lane_following_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_min_distance_to_vehicle |
Minimum distance gap throughout the scenario | [0..200), every: 20.0 | m |
[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 |
360.4.2 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 |