126. Vehicle Lane Hugger Left evaluation scenario
In the vehicle_lane_hugger_left evaluation scenario, a vehicle (vehicle_actor) is driving in the adjacent left lane to the Ego, and is hugging the lane line. The scenario involves both vehicles driving in parallel, with vehicle_actor maintaining a close lateral distance to the lane line on its right side.
Scenario location: $FTX/logiq/scenario_library_post_match/adjacent_vehicles/vehicle_lane_hugger_left
126.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
vehicle actor | vehicle |
 |
126.2 Scenario phases
The phase descriptions are as follows:
126.2.1 vehicle_lane_hugger
Ego: The Ego drives in one lane and maintains its lane.
vehicle_actor: The vehicle drives in the left lane adjacent to the Ego vehicle and is hugging the lane line.
vehicle_actor is maintaining a close lateral maximal distance of max_lateral_distance to the line on its right side and
a longitudinal distance between a minimum of min_longitudinal_distance and a maximum of max_longitudinal_distance
from the Ego.
126.3 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 |
|---|---|---|---|
scenario_maximal_duration |
time | The maximum duration of the scenario. | 10s |
max_longitudinal_distance |
length | The maximal longitudinal distance between the Ego and the NPC during the entire scenario. | 10m |
min_longitudinal_distance |
length | The minimal longitudinal distance between the Ego and the NPC during the entire scenario. | -10m |
max_lateral_distance |
length | The maximal lateral distance between the Ego and the NPC during the entire scenario. | 0.3m |
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 |
126.4 Metrics
126.4.1 Coverage
[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 |
126.4.2 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 |
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 |