138. Slow neighbor vehicles
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/adjacent_vehicles/slow_neighbor_vehicles/
In the slow_neighbor_vehicles scenario, the Ego drives alongside a convoy of vehicles traveling at low speed in the adjacent lane.
138.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_1 |
Slow neighbor vehicle | vehicle |
 |
vehicle_2 |
Slow neighbor vehicle | vehicle |
 |
vehicle_3 |
Slow neighbor vehicle | vehicle |
 |
138.2 Prerequisites
Environmental requirements: A road with at least two lanes.
138.3 Scenario essence
138.3.1 phase_essence
Ego: The Ego continues driving in its lane and passes the neighbor vehicles.
neighbor_vehicles: In the adjacent lane of the Ego, the three neighbor vehicles, vehicle_1, vehicle_2, and vehicle_3 continue driving forward at a slow speed.
138.4 Scenario Main phases
The test scenario slow_neighbor_vehicles_main is structured into three distinct phases:
138.4.1 phase_ego_warm_up
The phase_ego_warm_up phase invokes the slow_neighbor_vehicles_ego_warm_up scenario.
138.4.2 phase_essence
The phase_essence invokes the phase_essence.
138.4.3 phase_post
The phase_post invokes the slow_neighbor_vehicles_post scenario.
138.5 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/slow_neighbor_vehicles.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/adjacent_vehicles/slow_neighbor_vehicles_main.csv
The parameters you can constrain to create tests with the slow_neighbor_vehicles.csv file are as follows:
| Parameter | Description | Range |
|---|---|---|
gen_neighbor_vehicles_side |
Relative side of neighbor vehicles to the Ego | left, right |
gen_neighbor_vehicles_speed |
Neighbor vehicles speed | [10..30]kph |
gen_vehicle_1_distance_to_ego |
Vehicle_1 distance to the Ego | [30..70]m |
gen_vehicle_2_distance_to_vehicle_1 |
Vehicle_2 distance to vehicle_1 | [15..30]m |
gen_vehicle_3_distance_to_vehicle_2 |
Vehicle_3 distance to vehicle_2 | [15..30]m |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
138.6 Metrics
Metrics collected during test execution are given below.
138.6.1 Coverage
The coverage metrics are given below.
138.6.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
vehicle_1_lat_distance_to_lane_at_end |
Vehicle_1 lateral distance to lane center at end | [0..0.1), [0.1..0.2), [0.2..0.3), [0.3..0.4), [0.4..0.5), [0.5..0.6), [0.6..0.7), [0.7..0.8), [0.8..0.9), [0.9..1) | m |
vehicle_2_lat_distance_to_lane_at_end |
Vehicle_2 lateral distance to lane center at end | [0..0.1), [0.1..0.2), [0.2..0.3), [0.3..0.4), [0.4..0.5), [0.5..0.6), [0.6..0.7), [0.7..0.8), [0.8..0.9), [0.9..1) | m |
vehicle_3_lat_distance_to_lane_at_end |
Vehicle_3 lateral distance to lane center at end | [0..0.1), [0.1..0.2), [0.2..0.3), [0.3..0.4), [0.4..0.5), [0.5..0.6), [0.6..0.7), [0.7..0.8), [0.8..0.9), [0.9..1) | m |
ego_rel_speed_to_vehicle_1_at_end |
Relative speed of the Ego to vehicle_1 at the end of the scenario | [-70..35), every: 10.0 | kph |
ego_rel_speed_to_vehicle_2_at_end |
Relative speed of the Ego to vehicle_2 at the end of the scenario | [-70..35), every: 10.0 | kph |
ego_rel_speed_to_vehicle_3_at_end |
Relative speed of the Ego to vehicle_3 at the end of the scenario | [-70..35), every: 10.0 | kph |
ego_speed_vs_legal_speed_at_end |
Ego speed vs legal speed at end | [-120..-110), [-110..-100), [-100..-90), [-90..-80), [-80..-70), [-70..-60), [-60..-50), [-50..-40), [-40..-30), [-30..-20), [-20..-10), [-10..0) | kph |
ego_rel_speed_to_vehicle_1_at_start |
Relative speed of the Ego to vehicle_1 at the start of the scenario | [-70..35), every: 10.0 | kph |
ego_rel_speed_to_vehicle_2_at_start |
Relative speed of the Ego to vehicle_2 at the start of the scenario | [-70..35), every: 10.0 | kph |
ego_rel_speed_to_vehicle_3_at_start |
Relative speed of the Ego to vehicle_3 at the start of the scenario | [-70..35), every: 10.0 | kph |
neighbor_vehicles_speed_at_start |
The speed of neighbor vehicles at the start of the scenario | [0..150), every: 10.0 | kph |
gen_neighbor_vehicles_side |
Relative side of neighbor vehicles to the Ego | left, right | av_side |
gen_neighbor_vehicles_speed |
Neighbor vehicles speed | [10..30), every: 5.0 | kph |
gen_vehicle_1_distance_to_ego |
Vehicle_1 distance to the Ego | [30..70), every: 5.0 | m |
gen_vehicle_2_distance_to_vehicle_1 |
Vehicle_2 distance to vehicle_1 | [15..30), every: 5.0 | m |
gen_vehicle_3_distance_to_vehicle_2 |
Vehicle_3 distance to vehicle_2 | [15..30), every: 5.0 | m |
neighbor_vehicles_side |
Relative side of the neighbor_vehicles to the Ego | left, right | av_side |
neighbor_vehicles_speed_min |
Minimum speed of the neighbor vehicles | [10..30), every: 5.0 | kph |
neighbor_vehicles_speed_max |
Maximum speed of the neighbor vehicles | [10..30), every: 5.0 | kph |
vehicle_1_distance_to_ego |
Vehicle_1 distance to the Ego | [30..70), every: 5.0 | m |
vehicle_2_distance_to_vehicle_1 |
Vehicle_2 distance to vehicle_1 | [15..30), every: 5.0 | m |
vehicle_3_distance_to_vehicle_2 |
Vehicle_3 distance to vehicle_2 | [15..30), every: 5.0 | m |
[Click] The coverage items inherited from the sut.slow_neighbor_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 |
138.6.1.2 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.slow_neighbor_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 |
|---|---|---|
| -- | -- | -- |
138.6.2 KPI
The key performance indicators are given below.
138.6.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
[Click] The KPIs inherited from the sut.slow_neighbor_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 |
|---|---|---|---|
| -- | -- | -- | -- |
138.7 Checks
The captured problematic behavior or conditions are as follows:
| Default severity | Description | Issue kind | Threshold |
|---|---|---|---|
other_warning |
The lateral distance between the Ego and other_vehicle is less than the given threshold | slow_neighbor_vehicles_checks |
1m |
other_warning |
The relative speed of the Ego and the other_vehicle is greater than the given threshold | slow_neighbor_vehicles_checks |
50kph |