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180. Road Departure Checker

The vehicle.road_departure is a modifier responsible for emitting intervals and raising issues when a vehicle drives off-road.

180.0.1 Start condition

An interval starts when the road_departure_deviation becomes greater than the relevant threshold: warning_threshold or junction_warning_threshold for a warning, and error_threshold or junction_error_threshold for an error.

180.0.2 End condition

The interval ends when road_departure_deviation falls below the relevant threshold again, at which point a warning or error is raised.

180.1 Plot

Road Departure Checker interval representation

180.2 Attributes

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

Checker attribute Description
Parent object vehicle.road_departure
Issue category sut or other
Issue kind road_departure
Default severity warning, error
Trigger condition Based on passive_w watcher

180.3 Configuration parameters

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

Parameter Type Description Default Value
warning_threshold length Off-road deviation threshold for warnings outside junctions 10cm
junction_warning_threshold length Off-road deviation threshold for warnings inside junctions 1m
error_threshold length Off-road deviation threshold for errors outside junctions actor.bbox.width / 4
junction_error_threshold length Off-road deviation threshold for errors inside junctions 2m

180.4 Metrics

The following metrics are recorded and tracked by the evaluator.

Metric item Unit / Type Description
max_distance_to_road m Maximum distance of any bounding box point towards the closest road element during the interval
time_off_road s Duration the vehicle spends off-road

180.5 Log and Error Messages

No error messages found.

180.6 Additional information

  • Road Definition: Includes all outermost lanes, sidewalks, and shoulders.
  • Junction Logic: Active if at least one vehicle corner is inside the junction area.
Road Departure Checker reference points

  • Deviation Measurement: Measured from the closest road edge to the farthest vehicle reference point (corners and mid-edges).

  • Compound Objects: Deviation is calculated independently for each part (e.g., both truck and trailer).

  • Threshold Intervals:

  • Start: Triggered when road_departure_deviation exceeds the warning/error or junction-specific thresholds.

  • End: Triggered when the value returns below the threshold, raising a warning or error issue.

  • Initial State: If a vehicle spawns off-road, the checker waits until it is fully on-road before monitoring begins.

  • Disabling: Freeze the checker using override(road_departure, run_mode: freeze)

Resolution options This check identifies the driver that is at fault. In the most simplistic approach, there are the following cases:

  • ftx_driver (Foretellix Human Driver Model) or external_driver (typically the simulator): This issue needs investigation and possible optimization of Foretify parameter settings for your environment. Please check with your AE.

  • SUT_driver (the SUT): This is most likely an issue in the SUT. You should investigate whether there is a bug in the SUT.

  • hybrid_driver: In this case, the ftx_driver (Foretellix Human Driver Model) and SUT_driver (the SUT) drive the vehicle in parallel. Therefore each case needs to be examined separately. In general, the SUT stack is expected to be robust enough to withstand issues that might happen in the ftx_driver. But this depends significantly on the specific SUT functionality (the type of ADAS) and the scenario.