171. Vehicle Merge at Highway Entry evaluation scenario
In the vehicle_merge_at_highway_entry evaluation scenario, the vehicle_actor merges from the merging lane ahead of the Ego into the Ego's lane at the highway entry.
Scenario location: $FTX/logiq/scenario_library_post_match/vehicle_merge/vehicle_merge_at_highway_entry
171.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Merging vehicle | vehicle |
 |
171.2 Scenario phases
The phase descriptions are as follows:
171.2.1 start_phase
ego: The Ego drives on the highway and stays in the same lane during the entire phase.
vehicle_actor: The vehicle_actor drives on the highway entry lane and stays in the same lane during the entire phase.
171.2.2 start_merging_phase
ego: The Ego drives on the highway and remains in the same lane throughout the entire phase.
vehicle_actor: The vehicle_actor is starting to merge onto the highway.
171.2.3 end_merging_phase
ego: The Ego drives on the highway, behind the vehicle_actor.
vehicle_actor: The vehicle_actor merges onto the highway from the merging lane into the Ego's lane, ahead of the Ego.
171.3 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_phase_duration |
time | Minimal time of the start_phase phase |
0sec |
max_start_phase_duration |
time | Maximal time of the start_phase phase |
2.5sec |
min_start_merged_lane_phase_duration |
time | Minimal time of the start_merged_lane_phase phase |
0sec |
max_start_merged_lane_phase_duration |
time | Maximal time of the start_merged_lane_phase phase |
8sec |
min_end_merged_lane_phase_duration |
time | Minimal time of the end_merged_lane_phase phase |
0sec |
max_end_merged_lane_phase_duration |
time | Maximal time of the end_merged_lane_phase phase |
1sec |
distance_from_highway_entry_end |
length | The distance from the end of the highway entry to the vehicle_actor in the start_phase |
-10m |
speed_gap_threshold |
speed | The speed gap threshold to detect speed drop of the Ego | 10kph |
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 |
171.4 Metrics
171.4.1 Coverage
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_speed_at_start_merging |
Ego speed at the start of the merge phase | [0..160), every: 10.0 | kph |
vehicle_actor_speed_at_start_merging |
Vehicle_actor speed at the start of the merge phase | [0..160), every: 10.0 | kph |
distance_at_start_merging |
Distance between the Ego and the vehicle_actor at the start of the merge phase | [0..200), every: 10.0 | m |
ego_slowed_down |
Has the Ego slowed down | true, false | bool |
vehicle_actor_speed_at_end |
Vehicle_actor speed at the end of the merge phase | [0..160), every: 10.0 | kph |
[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 |
171.4.2 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 |