362. Vehicle Cut Out Behind Ego evaluation scenario
In the vehicle_cut_out_behind_ego evaluation scenario, the vehicle_actor drives behind the Ego in the same lane and then cuts out to the adjacent lane.
Scenario location: $FTX/logiq/scenario_library_post_match/vehicle_cut_out/vehicle_cut_out_behind_ego
362.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Vehicle behind the Ego in the same lane, that moves into an adjacent lane | vehicle |
 |
362.2 Scenario phases
The phase descriptions are as follows:
362.2.1 cut_out_behind_ego_start
Ego: The Ego drives in the same lane as the vehicle_actor at the start and continues to drive in the same lane.
vehicle_actor: The vehicle_actor drives behind the Ego in the same lane while maintaining an initial distance between
min_distance_from_sut_in_time_units and max_distance_from_sut_in_time_units.
It then initiates a lane change and completes the maneuver at the end of the phase.
362.2.2 cut_out_behind_ego_end
Ego: The Ego continues driving in the same lane.
vehicle_actor: The vehicle_actor drives in a lane adjacent to the Ego.
362.3 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_scenario_duration |
time | Minimal duration of the scenario | 0.5s |
max_scenario_duration |
time | Maximal duration of the scenario | 30s |
min_angle_diff_between_ego_and_vehicle_actor |
angle | Minimal angle difference (in degrees) between the orientation of the Ego and the vehicle actor | 0degree |
max_angle_diff_between_ego_and_vehicle_actor |
angle | Maximal angle difference (in degrees) between the orientation of the Ego and the vehicle actor | 10degree |
min_cut_out_behind_ego_end_phase_duration |
time | Minimal duration of the cut_out_behind_ego_end phase |
0.5s |
max_cut_out_behind_ego_end_phase_duration |
time | Maximal duration of the cut_out_behind_ego_end phase |
1s |
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 |
362.4 Metrics
362.4.1 Coverage
| Item | Description | Range | Unit/Type |
|---|---|---|---|
cut_out_side |
Cut out side relative to Ego | left, right | av_side |
ego_speed_at_end |
The speed of the Ego at the end of the scenario | [0..160), every: 10.0 | mph |
ego_rel_speed_to_vehicle_at_end |
The relative speed of the Ego to the vehicle_actor at the end of the scenario | [-70..35), every: 10.0 | mph |
ego_longitudinal_distance_to_vehicle_at_end |
The longitudinal distance of the Ego to the vehicle_actor at the end of the scenario | [0..100), every: 10.0 | m |
cut_out_duration |
The duration of the vehicle cut out behind ego scenario | [0..30), every: 10.0 | s |
min_longitudinal_distance_to_vehicle |
Minimum longitudinal distance between the Ego and the vehicle_actor when the vehicle cuts out behind the Ego | [0..100), every: 10.0 | m |
faster_vehicle |
Vehicle that is faster at both the start and end of the scenario. If the faster vehicle differs between start and end, the value is both. | ego, vehicle_actor, both | faster_vehicle |
ego_rel_speed_to_vehicle_at_start |
Relative speed of the Ego compared to the vehicle_actor at the start of the scenario | [-70..35), every: 10.0 | mph |
ego_longitudinal_distance_to_vehicle_at_start |
Longitudinal distance between the Ego and the vehicle_actor at the start of the scenario | [0..100), every: 10.0 | m |
ego_time_gap_to_vehicle_at_start |
Time gap between the Ego and the vehicle_actor at the start of the scenario | [1..5), every: 0.5 | 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 |
362.4.2 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 |