134. Adjacent vehicles family base
The adjacent_vehicles_family_base consists of input variables, coverage, and KPIs common across all Adjacent vehicle scenarios.
Location: $FTX/packages/base_scenarios/scenarios/adjacent_vehicles/adjacent_vehicles_family_base
134.1 Adjacent vehicles family ego_warm_up and post scenarios
The Adjacent vehicles scenarios use these ego_warm_up and post scenarios.
134.1.1 stationary_vehicles
134.1.1.1 stationary_vehicles_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
neighbor_vehicle: The neighbor_vehicle starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
stationary_vehicles: The stationary_vehicles remain stationary.
stationary_object: The stationary_object remains stationary.
134.1.1.2 stationary_vehicles_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
stationary_vehicles: The stationary_vehicles remain stationary.
stationary_object: The stationary_object remains stationary.
134.1.2 stationary_objects
134.1.2.1 stationary_objects_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
neighbor_vehicle: The neighbor_vehicle starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
stationary_object: The stationary_object remains stationary.
134.1.2.2 stationary_objects_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
neighbor_vehicle: The neighbor_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
stationary_object: The stationary_object remains stationary.
134.1.3 neighbor_vehicles
134.1.3.1 neighbor_vehicles_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
neighbor_vehicle: The neighbor_vehicle starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
134.1.3.2 neighbor_vehicles_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
neighbor_vehicle: The neighbor_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
134.1.4 slow_neighbor_vehicles
134.1.4.1 slow_neighbor_vehicles_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
neighbor_vehicle: vehicle_1, vehicle_2, and vehicle_3 start driving and attempt to maintain their lane for the duration of gen_duration_at_ego_warm_up.
134.1.4.2 slow_neighbor_vehicles_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
neighbor_vehicle: vehicle_1, vehicle_2, and vehicle_3 continue driving, maintaining their lane and speed for the duration of gen_duration_at_post.
134.2 Parameters
There are no CSV files associated with the adjacent_vehicles_family_base scenario. However, scenarios that inherit from it can use the shared inputs listed below.
| Parameter | Description | Range |
|---|---|---|
gen_neighbor_vehicle_rel_thw_to_ego_at_start |
Relative time gap of the neighbor_vehicle to the Ego at the start | [-5..5]s |
gen_neighbor_vehicle_rel_thw_to_ego_at_end |
Relative time gap of the neighbor_vehicle to the Ego at the end | [-5..5]s |
gen_neighbor_vehicle_side |
Generated side of the neighbor_vehicle relative to the Ego | left, right |
gen_neighbor_vehicle_speed |
Speed of the neighbor_vehicle at the start of the scenario | [0..150]kph |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
134.3 Metrics
Metrics collected during test execution are given below.
134.3.1 Coverage
The coverage metrics are given below.
134.3.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
neighbor_vehicle_speed_at_passing_by |
Speed of the neighbor_vehicle while the two cars are passing by | [0..150), every: 10.0 | kph |
gen_neighbor_vehicle_rel_thw_to_ego_at_start |
Relative time gap of the neighbor_vehicle to the Ego at the start | [-5..5), every: 1.0 | s |
gen_neighbor_vehicle_rel_thw_to_ego_at_end |
Relative time gap of the neighbor_vehicle to the Ego at the end | [-5..5), every: 1.0 | s |
gen_neighbor_vehicle_side |
Generated side of the neighbor_vehicle relative to the Ego | left, right | av_side |
gen_neighbor_vehicle_speed |
Speed of the neighbor_vehicle at the start of the scenario | [0..150), every: 10.0 | kph |
neighbor_vehicle_rel_speed_to_ego_at_start_cover |
Relative speed of the neighbor_vehicle to the Ego at the start of the scenario | [-20..110), every: 20.0 | kph |
ego_rel_lon_dist_to_neighbor_vehicle_at_start |
Relative longitudinal distance from the Ego to the neighbor_vehicle at the start of the scenario | [-6..38), every: 4.0 | m |
neighbor_vehicle_lat_offset_at_start |
Lateral lane offset of the neighbor_vehicle at the start of the scenario | [-1..1), every: 0.5 | m |
ego_lat_offset_at_start |
Lateral lane offset of the Ego at the start of the scenario | [-1..1), every: 0.5 | m |
neighbor_vehicle_side |
Side of the neighbor_vehicle relative to the Ego | left, right | av_side |
neighbor_vehicle_speed |
Speed of the neighbor_vehicle | [0..150), every: 10.0 | kph |
neighbor_vehicle_rel_speed_to_ego_at_end_cover |
Relative speed of the neighbor_vehicle to the Ego at the end of the scenario | [-20..110), every: 20.0 | kph |
neighbor_vehicle_lat_offset_at_end |
Lateral lane offset of the neighbor_vehicle at the end of the scenario | [-1..1), every: 0.5 | m |
ego_lat_offset_at_end |
Lateral lane offset of the Ego at the end of the scenario | [-1..1), every: 0.5 | m |
ego_rel_lon_time_dist_to_neighbor_vehicle_at_start |
Time distance from the Ego to the neighbor_vehicle at the start of the scenario | [1..5), every: 0.5 | s |
max_road_curvature_radius |
Maximum curvature of the road | [0..100), [100..150), [150..200), [200..300), [300..400), [400..600), [600..800), [800..1000), [1000..1200), [1200..1400), [1400..1600), [1600..1800), [1800..2000), [2000..2400), [2400..2800), [2800..3200), [3200..3600), [3600..4000), [4000..5000), [5000..6000), [6000..8000), [8000..10000), [10000..20000) | m |
neighbor_vehicle_rel_thw_to_ego_at_start |
Relative time gap of the neighbor_vehicle to the Ego at the start | [-5..5), every: 1.0 | s |
neighbor_vehicle_rel_thw_to_ego_at_end |
Relative time gap of the neighbor_vehicle to the Ego at the end | [-5..5), every: 1.0 | s |
[Click] The coverage items inherited from the sut.generic_base scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150), every: 10.0 | kph |
ego_speed_at_start |
Actual speed of the Ego at the start of the scenario | [0..150), every: 10.0 | kph |
134.3.1.2 Cross coverage items
The test execution data for the combination of multiple coverage items is as follows:
| Item | Description | Referred coverage items |
|---|---|---|
cross_ego_rel_lon_dist_to_neighbor_vehicle_at_start_X_neighbor_vehicle_rel_speed_to_ego_at_start_cover |
Cross cover of relative distance to neighbor_vehicle's relative speed | ego_rel_lon_dist_to_neighbor_vehicle_at_start, neighbor_vehicle_rel_speed_to_ego_at_start_cover |
[Click] The cross coverage items inherited from the sut.generic_base scenario are as follows:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
134.3.2 KPI
The key performance indicators are given below.
134.3.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
mean_road_curvature |
Mean curvature of the road on which the Ego is driving, calculated as the average curvature of the road | m | |
max_road_curvature |
Maximum curvature of the road | m | |
ego_lat_dist_to_neighbor_vehicle_at_passing_by |
Lateral center-to-center distance between the Ego and the neighbor_vehicle when passing each other | m | |
neighbor_vehicle_length |
Length of the neighbor_vehicle | m | |
neighbor_vehicle_width |
Width of the neighbor_vehicle | m | |
neighbor_vehicle_height |
Height of the neighbor_vehicle | m |
[Click] The KPIs inherited from the sut.generic_base scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |