136. Ego passing parked vehicles
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/adjacent_vehicles/ego_passing_parked_vehicles/
In the ego_passing_parked_vehicles scenario, the Ego passes the parked vehicles (stationary vehicles) positioned on the extreme left and right of a road.
136.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
parked_vehicles |
Group of parked vehicles located on the shoulder | vehicle |
 |
136.2 Prerequisites
Environmental requirements: A road with at least three lanes.
136.3 Scenario essence
136.3.1 phase_essence
136.3.1.1 ego_passing_parked_vehicles
Ego: The Ego drives between the parked vehicles.
stationary_vehicle: The parked vehicles are situated on the extreme left and right of the road.
136.3.1.2 scenario_stopper_1_at_essence
The scenario_stopper_1_at_essence is triggered when the Ego’s standstill duration exceeds max_time_ego_stops.
136.3.1.3 scenario_stopper_2_at_essence
The scenario_stopper_2_at_essence is triggered as the Ego passes by the parked vehicles.
136.4 Scenario Main phases
The test scenario ego_passing_parked_vehicles_main is structured into three distinct phases:
136.4.1 phase_ego_warm_up
The phase_ego_warm_up phase invokes the stationary_vehicles_ego_warm_up scenario.
136.4.2 phase_essence
The phase_essence invokes the phase_essence.
136.4.3 phase_post
The phase_post invokes the stationary_vehicles_post scenario.
136.5 Parameters
The paths to the CSV file and the main CSV file are as follows:
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/adjacent_vehicles/ego_passing_parked_vehicles.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/adjacent_vehicles/ego_passing_parked_vehicles_main.csv
| Parameter | Description | Range |
|---|---|---|
gen_distance_between_parked_vehicles |
Distance between parked vehicles | [1..3]m |
gen_ego_lat_distance_to_parked_vehicles |
The Ego's lateral distance to the parked vehicles | [-0.5..2]m |
gen_number_of_parked_vehicles |
Number of parked vehicles | [5..15) |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
136.6 Metrics
Metrics collected during test execution are given below.
136.6.1 Coverage
The coverage metrics are given below.
136.6.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
gen_distance_between_parked_vehicles |
Distance between parked vehicles | [1..3), every: 1.0 | m |
gen_ego_lat_distance_to_parked_vehicles |
The Ego's lateral distance to the parked vehicles | [-0.5..2), every: 0.5 | m |
gen_number_of_parked_vehicles |
Number of parked vehicles | [5..15), every: 1.0 | int |
distance_between_parked_vehicles_left |
Distance between parked vehicles in the left vehicle group | [1..3), every: 1.0 | m |
distance_between_parked_vehicles_right |
Distance between parked vehicles in the right vehicle group | [1..3), every: 1.0 | m |
ego_lat_distance_to_parked_vehicles_left |
Lateral distance between the Ego and the parked vehicles in the left vehicle group | [-0.5..2), every: 0.5 | m |
ego_lat_distance_to_parked_vehicles_right |
Lateral distance between the Ego and the parked vehicles in the right vehicle group | [-0.5..2), every: 0.5 | m |
number_of_parked_vehicles_left |
Number of parked vehicles in the left vehicle group | [5..15), every: 1.0 | int |
number_of_parked_vehicles_right |
Number of parked vehicles in the right vehicle group | [5..15), every: 1.0 | int |
[Click] The coverage items inherited from the sut.stationary_vehicles_family scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
[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 |
136.6.1.2 Cross coverage items
The test execution data for the combination of multiple coverage items is as follows:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
[Click] The cross coverage items inherited from the sut.stationary_vehicles_family scenario are as follows:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
[Click] The cross coverage items inherited from the sut.generic_base scenario are as follows:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
136.6.2 KPI
The key performance indicators are given below.
136.6.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_lat_distance_to_left_parked_vehicle_at_end_road |
Lateral distance between the Ego and the left_parked_vehicle_10 when the Ego reaches the end of the road | [0.5..5), every: 0.5 | m |
ego_lat_distance_to_right_parked_vehicle_at_end_road |
Lateral distance between the Ego and the right_parked_vehicle_10 when the Ego reaches the end of the road | [-5..-0.5), every: 0.5 | m |
[Click] The KPIs inherited from the sut.stationary_vehicles_family scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
[Click] The KPIs inherited from the sut.generic_base scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
136.7 Checks
The captured problematic behavior or conditions are as follows:
| Default severity | Description | Issue kind | Threshold |
|---|---|---|---|
error |
The Ego must not stop until it passes the last parked_vehicle | ego_stopped |
10m and 1kph |