169. Vehicle Cut Out Exposing Vehicle Scenario evaluation scenario
In the vehicle_cut_out_exposing_vehicle evaluation scenario, the vehicle_actor drives ahead of the Ego in the same lane, with the Ego following behind. The vehicle_actor then changes lanes, revealing the exposed_actor which is also driving in the Ego’s lane.
Scenario location: $FTX/logiq/scenario_library_post_match/vehicle_cut_out/vehicle_cut_out_exposing_vehicle
169.1 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 |
 |
exposed_actor |
Exposed vehicle | vehicle |
 |
169.2 Scenario phases
The phase descriptions are as follows:
169.2.1 initial_phase
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.
exposed_actor: The exposed_actor drives in the same lane as the Ego and the vehicle_actor, ahead of the vehicle_actor.
169.2.2 cut_out_phase
Ego: The Ego continues driving in the same lane.
vehicle_actor: The vehicle_actor drives in a lane adjacent to the Ego, revealing the exposed_actor to the Ego.
169.2.3 post_cut_out_phase
Ego: The Ego drives behind the exposed_actor in the same lane.
exposed_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.
169.3 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_initial_phase_duration |
time | Minimal time of the initial_phase |
0sec |
max_initial_phase_duration |
time | Maximal time of the initial_phase |
5sec |
min_cut_out_phase_duration |
time | Minimal time of the cut_out_phase |
0sec |
max_cut_out_phase_duration |
time | Maximal time of the cut_out_phase |
3sec |
min_post_cut_out_phase_duration |
time | Minimal time of the post_cut_out_phase |
0sec |
max_post_cut_out_phase_duration |
time | Maximal time of the post_cut_out_phase |
3sec |
speed_gap_threshold |
speed | 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 |
169.4 Metrics
169.4.1 Coverage
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_speed_at_cut_out_start |
Speed of Ego at the start of the cut_out_phase |
[0..160), every: 10.0 | mph |
distance_at_cut_out_start |
Distance between cut_out_vehicle and Ego at the cut_out_phase_start | [0..100), every: 10.0 | m |
ego_changed_lane |
Did the Ego change lane | true, false | bool |
exposed_actor_speed_at_end |
Speed of the vehicle_actor at the end of the scenario | [0..150), every: 10.0 | mph |
ego_slowed_down |
Did the Ego slow down in more than the given speed threshold during the scenario | true, false | bool |
exposed_actor_speed_at_exposure |
Speed of the vehicle_actor at the start of the post_cut_out_phase |
[0..150), every: 10.0 | mph |
ego_speed_at_cut_out_end |
Speed of the Ego at the end of the cut_out_phase |
[0..160), every: 10.0 | mph |
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 |
Agent speed at 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 |
Ego longitudinal speed at the start of the scenario | [0..160), every: 10.0 | mph |
169.4.2 KPI
| Item | Description | Range | Unit/Type |
|---|---|---|---|
exposed_actor_tracking_id |
The tracking id of the exposed_actor as described in the OL data. If the data comes from a generative run, the uid will be used | string |
[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 |
Agent average longitudinal speed throughout the scenario | mph | |
vehicle_max_speed |
Agent maximum speed throughout the scenario | mph | |
vehicle_min_speed |
Agent minimum speed throughout the scenario | mph | |
vehicle_max_lon_acceleration |
Agent maximum longitudinal acceleration throughout the scenario | mpsps | |
vehicle_min_lon_acceleration |
Agent minimum longitudinal acceleration 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 |
Ego maximum acceleration throughout the scenario | mpsps | |
ego_min_lon_acceleration |
Ego minimum acceleration throughout the scenario | mpsps | |
ego_min_speed |
Ego minimum longitudinal speed throughout the scenario | mph | |
ego_avg_speed |
Ego average longitudinal speed throughout the scenario | mph | |
ego_max_speed |
Ego maximum longitudinal speed throughout the scenario | mph | |
interval_duration |
Interval duration of the scenario | s |