123. Traffic adjacent to reference vehicle scenario extension block
Scenario location: $FTX_PACKAGES/base_scenarios/common/scenario_extension_blocks/vehicle_with_traffic_on_side/
The vehicle_with_traffic_on_side scenario extension block introduces a group of traffic vehicles driving in the adjacent lanes on both sides of the reference vehicle and the Ego. This extension block evaluates the Ego's ability to maintain safe driving behavior when surrounded by traffic on both sides.
123.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
traffic_group |
Group of traffic vehicles that drive together near the Ego | vehicle |
 |
| Figure 1 shows the vehicle with traffic on side scenario. |
123.2 Prerequisites
123.2.1 Environment requirements
The scenario requires a road with at least three lanes (one for the Ego and one on each side for traffic) in the same direction.
123.3 Variants
The traffic_driving_on_side_of_ref_vehicle block supports multiple traffic group configurations to enable a variety of traffic scenarios. Each of the following variants defines how vehicles are placed and behave relative to the Ego.
123.3.1 random_traffic_car_group
In this variant, multiple vehicles are positioned randomly around the initial position of an actor, typically the Ego. All vehicles start on any road and follow random routes at varying speeds.
123.3.2 common_route_car_group
This variant is a base for single_lane_car_group and all_lanes_car_group. The vehicles in this group follow the same route as a reference vehicle.
123.3.2.1 single_lane_car_group
In this variant, multiple vehicles are positioned in a single-lane formation relative to a lead vehicle and follow the same route.
123.3.2.2 all_lanes_car_group variant
In this variant, multiple vehicles are positioned in a multi-lane formation relative to a lead vehicle and follow the same route. This is the variant used in the vehicle_with_traffic_on_side scenario.
123.4 Scenario essence
123.4.1 phase_essence
Ego: The Ego drives along the road.
traffic_group: The traffic vehicles drive in adjacent lanes alongside the Ego.
123.5 Parameters
The path to the top file follows:
/$FTX_PACKAGES/base_scenarios/common/scenario_extension_blocks/vehicle_with_traffic_on_side/vehicle_with_traffic_on_side_top.osc
The parameters you can constrain to use vehicle_with_traffic_on_side with the main scenario file is as follows:
| Parameter | Description | Range |
|---|---|---|
gen_traffic_group_size |
Number of vehicles in traffic group | [6..10) |
gen_traffic_group_rel_speed_to_ego |
Relative speed of traffic group to ego at start | [-15..15]kph |
123.6 Metrics
Metrics collected during test execution are given below.
123.6.1 Coverage
The coverage metrics are given below.
123.6.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
gen_traffic_group_size |
Number of vehicles in traffic group | [6..10), every: 1.0 | int |
gen_traffic_group_rel_speed_to_ego |
Relative speed of traffic group to ego at start | [-15..15), every: 5.0 | kph |
traffic_group_size |
Actual number of vehicles in traffic group | [6..10), every: 1.0 | uint |
traffic_group_rel_speed_to_ego |
Actual relative speed of traffic group to ego at start | [-15..15), every: 5.0 | kph |
123.6.1.2 Cross coverage items
The test execution data for the combination of multiple coverage items is as follows:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
123.6.2 KPI
The key performance indicators are given below.
123.6.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
traffic_max_length |
Traffic group max length | m | |
traffic_max_width |
Traffic group max width | m | |
traffic_max_height |
Traffic group max height | m | |
traffic_min_length |
Traffic group min length | m | |
traffic_min_width |
Traffic group min width | m | |
traffic_min_height |
Traffic group min height | m |