121. Crossing VRU Group Scenario Extension Block

Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/crossing_vrus_family/crossing_vru_group/

In the crossing_vru_group block, a group of VRUs is introduced into any specified scenario where they cross the road in front of the Ego. The crossing behavior can vary as defined by gen_crossing_variant in different modes, such as crossing, shape_crossing, start_and_stop_crossing, and go_and_return, allowing for a range of movement patterns. The VRU group is positioned on either the right or left side of the Ego’s path, as specified by the gen_vru_group_side_at_start parameter. A group of VRUs is placed at a distance relative to the Ego and starts to move with an angle relative to the drive road. The scenario ends when the VRU reaches the end position.

121.1 Actors

The actors associated with this scenario are as follows:

Actor	Description	Type	Depiction
ego	Vehicle under test	vehicle
vru_group	Group of vulnerable road users, such as pedestrians or cyclists	person cyclist
## Variants

121.1.1 Crossing

In the crossing variant, the vru_group crosses the entire road at a consistent angle defined by gen_vru_group_rel_angle_to_road_at_start.

121.1.2 shape_crossing

In the shape_crossing variant, the vru_group initiates its crossing, reaches a mid_position, and then continues toward the end_position, aligning its movement with the Ego's path.

121.1.3 start_and_stop_crossing

In the start_and_stop_crossing variant, the vru_group starts the crossing movement, reaches a mid_position, and proceeds toward the end_position, aligning its movement in the direction of the Ego's path.

121.1.4 go_and_return

In the go_and_return variant, the vru_group begins to cross but returns to the same side of the road after reaching a mid_position. The directional change at this point is governed by an opposite angle defined in gen_vru_group_rel_angle_to_road_at_end.

121.2 Prerequisites

121.2.1 Environment requirements

The roadside position is defined by the following:

• If the road has a sidewalk then the roadside position is the border of the sidewalk with the driving lanes or shoulder.

• Otherwise, if the road has a shoulder then the roadside position is the border of the shoulder with the driving lanes.

• Otherwise, the roadside position is the border of the road.

121.3 Scenario phases

The phase descriptions are as follows:

121.3.1 init_scenario

vru_group: Wait for the time_gap between the VRU group and the Ego to be less than gen_trigger_time before starting the VRU movement.

121.3.2 move_group_1

vru_group: The vru_group moves from the start_position to the mid_position within a duration defined by gen_move_vru_group_duration_1.

121.3.3 move_group_2

vru_group: The vru_group moves from the mid_position to the end_position within a duration defined by gen_move_vru_group_duration_2.

121.3.4 post_scenario

vru_group: A vru_wait_end delay occurs, waiting to end the scenario after the VRU group reaches the end_position.

121.4 Parameters

The path to the top file follows:

/$FTX_PACKAGES/base_scenarios/scenarios/crossing_vrus_family/crossing_vru_group/crossing_vru_group_top.osc

The parameters you can constrain to use sut.crossing_vru_group with the main scenario file is as follows:

121.5 Metrics

Metrics collected during the test execution are given below.

121.5.1 Coverage

The coverage metrics are given below.

121.5.1.1 Coverage items

The captured parameters that define key aspects of a test are as follows:

121.5.2 KPI

The key performance indicators are given below.

121.5.2.1 Record items

The performance metrics and the data items captured during the test execution are as follows: