378. Speed Limit Violation
The speed_limit_violation_checker verifies whether the Ego complies with the applicable speed limits during the simulation. It continuously compares the vehicle's current speed with the active road speed limit and detects any violations based on both the speed limit and the violation_factor_threshold.
378.0.1 Start condition
The interval begins when:
- The Ego's speed exceeds the
violation_speed_thresholdand persists for the duration specified bydebounce_start_time. - The corresponding
speed_limit_watcherinterval is active.
The violation_speed_threshold is evaluated as: violation_speed_threshold = speed_limit × violation_factor_threshold, where speed_limit is the current applicable speed limit and violation_factor_threshold is a configurable float parameter.
378.0.2 End condition
The interval ends when:
- The Ego's speed falls below the threshold:
violation_speed_threshold−violation_speed_threshold_tolerance, whereviolation_speed_thresholdis the speed level that triggered the interval andviolation_speed_threshold_toleranceis a configurable parameter defining how far below this threshold the Ego must drop to return to compliance. - The associated
speed_limit_watcherinterval ends.
378.1 Plot
The figure below illustrates the speed limit violation. One violation is detected. The blue area indicates where the speed limit violation occurred.
378.2 Attributes
The following attributes define the behavior and characteristics of the evaluator.
| Checker attribute | Description |
|---|---|
| Parent object | vehicle.speed_limit |
| Issue category | sut or other |
| Issue kind | speed_limit_violation |
| Default severity | warning |
| Trigger condition | Based on while_w watcher |
378.3 Configuration parameters
The following parameters can be configured to customize the evaluator's behavior.
| Parameter | Type | Description | Default Value |
|---|---|---|---|
violation_speed_threshold |
speed | Factor to multiply the speed limit to get the violation speed threshold | No default |
violation_speed_threshold_tolerance |
speed | Tolerance added to the speed limit threshold to end the interval | 2kph |
debounce_start_time |
time | Time to debounce the start of the interval | 0.0s |
378.4 Metrics
The following metrics are recorded and tracked by the evaluator.
| Metric item | Unit / Type | Description |
|---|---|---|
speed_limit_violation |
kph | The speed threshold at which the interval starts |
max_speed |
kph | The maximum speed of the Ego during the speed limit violation event interval |
avg_speed |
kph | The average speed of the Ego during the speed limit violation event interval |
max_speed_exceedance |
kph | The maximum speed exceedance of the Ego during the speed limit violation event interval |
max_lon_acceleration |
mpsps | The maximum longitudinal acceleration of the Ego during the speed limit violation event interval |
duration |
s | Duration of speed limit violation interval |
378.5 Log and Error Messages
| Output Condition | Description | Default Severity |
|---|---|---|
| After the interval ends, a warning is issued. | Speed limit violation: Vehicle exceeded limit << speed_limit_violation_checker.data.speed_limit_violation >> with max speed << max_speed_statistics.compute() >> |
Warning |