368. Vehicle Forced Merge Behind Ego evaluation scenario

In the vehicle_forced_merge_behind_ego evaluation scenario, the vehicle merges from the merging lane into the Ego's lane, behind the Ego.

Scenario location: $FTX/logiq/scenario_library/vehicle_merge/vehicle_forced_merge_behind_ego

368.1 Actors

The actors associated with this scenario are as follows:

Actor	Description	Type	Depiction
`ego`	Vehicle under test	`vehicle`
`vehicle_actor`	Merging vehicle	`vehicle`

Figure 1: Vehicle forced merge behind Ego

368.2 Scenario phases

The phase descriptions are as follows:

368.2.1 `vehicle_on_merging_lane`

vehicle_actor: The vehicle_actor drives on the merging lane.

368.2.2 `vehicle_merged`

Ego: The Ego drives ahead of vehicle_actor in the same lane.

vehicle_actor: The vehicle_actor merges from the merging lane into the Ego's lane and remains within a range of max_time_ahead_of_ego behind the Ego.

368.2.3 `ego_on_the_merged_lane`

Ego: The Ego drives on the merged lane.

368.2.4 `ego_after_merged_lane`

Ego: The ego crossed the lane into which the merging lane merges.

368.3 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_time_behind_ego`	time	Maximal time behind the Ego in headway distance	5sec

The input items inherited from the sut.vehicle_forced_merge scenario are as follows:

Parameter	Type	Description
`end_phase_duration`	time	The maximal duration of the end phase after the merge
Default: 3s	No default value
`distance_from_end_of_merging_lane`	length	The distance after the end of the merging lane
Default: -10m	No default value

368.4 Metrics

Metrics collected are given below:

368.4.1 Coverage

Item	Description	Range	Unit/Type
`entering_lane_side`	The vehicle_actor's merging side	left, right	av_side

[Click] The coverage items inherited from the sut.vehicle_forced_merge scenario are as follows:

Item	Description	Range	Unit/Type
`num_of_parallel_lanes_after_merge`	Number of parallel lanes at the end of the scenario	0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10	int
`num_of_anti_parallel_lanes_after_merge`	Number of anti-parallel lanes at the end of the scenario	0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10	int
`road_width_at_end`	Road width at the end of the scenario	[0..40), every: 2.5	m
`road_speed_limit_at_end`	Road speed limit at the end of the scenario	[10..80), every: 5.0	mph

[Click] The coverage items inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:

Item	Description	Range	Unit/Type
`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
`agent_speed_at_start`	Agent speed at start	[0..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..100)	mph
`agent_max_speed`	Agent maximum speed throughout the scenario	[0..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..100)	mph
`agent_max_acceleration`	Agent maximum acceleration throughout the scenario	[-4..-2), [-2..0), [0..2), [2..4), [4..6), [6..8), [8..10), [10..15), [15..20)	mpsps
`agent_min_acceleration`	Agent minimum acceleration throughout the scenario. Negative values indicate deceleration	[-20..-15), [-15..-10), [-10..-8), [-8..-6), [-6..-4), [-4..-2), [-2..0), [0..2), [2..4)	mpsps
`min_ttc`	Minimal time to collision with the reference vehicle throughout the scenario. See here for more information about the TTC metric definition	[0..10), every: 2.0	s
`min_mttc`	Minimal modified time to collision with the reference vehicle throughout the scenario. See here for more information about the MTTC metric definition	[0..10), every: 2.0	s

[Click] The coverage items inherited from the sut.logiq_base_scenario scenario are as follows:

Item	Description	Range	Unit/Type
`num_of_parallel_lanes_at_start`	Number of parallel lanes at the start of the scenario, or just before the junction if the scenario starts inside a junction	0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10	int
`num_of_anti_parallel_lanes_at_start`	Number of anti-parallel lanes at the start of the scenario, or just before the junction if the scenario starts inside a junction	0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10	int
`road_speed_limit`	Road speed limit	[10..80), every: 5.0	mph
`road_width_at_start`	Road width at start	[0..40), every: 2.5	m
`ego_speed_at_start`	Ego speed at start	[0..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..100)	mph
`ego_max_speed`	Ego maximum speed throughout the scenario	[0..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..100)	mph
`ego_max_acceleration`	Ego maximum acceleration throughout the scenario	[-4..-2), [-2..0), [0..2), [2..4), [4..6), [6..8), [8..10), [10..15), [15..20)	mpsps
`ego_min_acceleration`	Ego minimum acceleration throughout the scenario. Negative values indicate deceleration	[-20..-15), [-15..-10), [-10..-8), [-8..-6), [-6..-4), [-4..-2), [-2..0), [0..2), [2..4)	mpsps
`ego_lane_at_start`	Ego lane at the start of the scenario, or just before the junction if the scenario starts inside a junction	1, 2, 3, 4, 5, 6, 7, 8, 9, 10	int
`max_num_of_static_actors`	Maximal number of static objects in a single frame, within a 20m radius from the Ego	[0..3), [3..5), [5..10), [10..20), [20..50), [50..150)	int
`max_num_of_moving_actors`	Maximal number of dynamic objects in a single frame, within a 50m radius from the Ego	[0..3), [3..5), [5..10), [10..20), [20..50), [50..150)	int

368.4.2 KPI

[Click] The KPIs inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:

Item	Description	Range	Unit/Type
`vehicle_actor_tracking_id`	The tracking id of the vehicle_actor as described in the object list data. If the data comes from a generative run, the UID will be used		string