374. Kinematic Behavior Monitoring

The kinematic_behavior checker monitors a vehicle's dynamic performance and emits intervals and raises issues when any kinematic values (such as speed, acceleration, or jerk) exceed predefined thresholds. This unified checker supports both specification checking (OEM limits) and physical capability checking (absolute physical limits) depending on the configuration provided. This checker provides two watcher modifiers:

• kinematic_behavior: (DEPRECATED) - Monitors all kinematic parameters such as speed, acceleration, and jerk. It requires all threshold parameters to be passed explicitly. Use kinematic_category_behavior with per-category checkers instead.
• kinematic_category_behavior: Monitors specific kinematic categories such as speed, lon_acc, lat_acc, lon_jerk, or lat_jerk and uses a kinematic_checker_config struct linked via keep constraints for configuration. This watcher does not use the deprecated issue_reason field.

374.0.1 Start condition

An interval is started when any monitored kinematic parameter (speed, longitudinal acceleration, lateral acceleration, longitudinal jerk, or lateral jerk) exceeds its configured upper threshold or falls below its configured lower threshold.

374.0.2 End condition

The interval ends when all monitored kinematic parameters return within their configured upper and lower limits. An issue is raised at the end of this interval, identifying the violation type (e.g., kinematic_behavior_spec or kinematic_behavior_physical).

374.1 Attributes

The following attributes define the behavior and characteristics of the evaluator.

374.2 Configuration parameters

The following parameters can be configured to customize the evaluator's behavior.

374.3 Metrics

The following metrics are recorded and tracked by the evaluator.

374.4 Log and Error Messages

374.5 Additional information

Deprecation Notice (version 26.06):

1. kinematic_behavior watcher modifier - Deprecated. Use kinematic_category_behavior with per-category checkers instead.
2. kinematic_spec_checker and kinematic_physical_checker - Deprecated. Use per-category checkers (e.g., kinematic_spec_speed_checker, kinematic_physical_speed_checker, etc.) instead.
3. issue_reason field - Deprecated in kinematic_checker_config. Per-category checkers automatically determine the issue reason based on the category and do not use this field.

New Configuration:

• checker_mode field - New field in kinematic_checker_config to select which checkers are active:
• per_category_checker (default): Uses new per-category checkers
• single_checker: Uses old checkers (deprecated, for backward compatibility only)
• Enable/Disable behavior:
• When enabled == false: All checkers (old and new) are disabled
• When enabled == true: Checkers are selected based on checker_mode

Specification checking mode (kinematic_checker_config)

The following table lists the configurable parameters of kinematic_checker_config, their default values, and threshold descriptions used to verify that vehicle kinematic behavior remains within OEM specification limits.

Physical capability checking mode (kinematic_physical_checker_config) The following table lists the configurable parameters of kinematic_physical_checker_config, their default values, and threshold descriptions used to verify that vehicle kinematic behavior does not exceed absolute physical capability limits or indicate unrealistic data.