140. Stopped vehicles
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/adjacent_vehicles/stopped_vehicles/
In the stopped_vehicles scenario, the Ego drives past a convoy of stationary vehicles.
140.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_1 |
Stopped vehicle | vehicle |
 |
vehicle_2 |
Stopped vehicle | vehicle |
 |
vehicle_3 |
Stopped vehicle | vehicle |
 |
140.2 Prerequisites
Environmental requirements A road with at least two lanes.
140.3 Scenario essence
140.3.1 phase_essence
Ego: The Ego drives in a single lane.
neighbor vehicles: The vehicles stationary_vehicle_1, stationary_vehicle_2, and stationary_vehicle_3 are stationary vehicles present in the lane that is adjacent to the Ego's lane.
140.4 Scenario Main phases
The test scenario stopped_vehicles_main is structured into three distinct phases:
140.4.1 phase_ego_warm_up
The phase_ego_warm_up phase invokes the stationary_vehicles_ego_warm_up scenario.
140.4.2 phase_essence
The phase_essence invokes the phase_essence.
140.4.3 phase_post
The phase_post invokes the stationary_vehicles_post scenario.
140.5 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/stopped_vehicles.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/adjacent_vehicles/stopped_vehicles_main.csv
| Parameter | Description | Range |
|---|---|---|
gen_same_lane_convoy |
The stopped vehicles are in same lane | true, false |
gen_stationary_vehicle_1_rel_lon_distance_to_stationary_vehicle_2 |
Relative longitudinal distance from stationary_vehicle_1 to stationary_vehicle_2 | [10..20]m |
gen_stationary_vehicle_2_rel_lon_distance_to_stationary_vehicle_3 |
Relative longitudinal distance from stationary_vehicle_2 to stationary_vehicle_3 | [20..30]m |
gen_stationary_vehicle_3_rel_lon_distance_to_ego |
Relative longitudinal distance from stationary_vehicle_3 to the Ego | [25..35]m |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
140.6 Metrics
Metrics collected during test execution are given below.
140.6.1 Coverage
The coverage metrics are given below.
140.6.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_stationary_vehicle_1_lateral_distance |
Lateral distance of the Ego to vehicle_1 at passing_by phase |
[0..6), every: 50.0 | m |
ego_stationary_vehicle_2_lateral_distance |
Lateral distance of the Ego to vehicle_2 at passing_by phase |
[0..6), every: 50.0 | m |
ego_stationary_vehicle_3_lateral_distance |
Lateral distance of the Ego to vehicle_3 at passing_by phase |
[0..6), every: 50.0 | m |
vehicle_1_side_rel_to_ego_at_start |
vehicle_1 side left/right relative to the Ego | left, right | av_side |
gen_same_lane_convoy |
The stopped vehicles are in same lane | true, false | bool |
same_lane_convoy |
The stopped vehicles are in same lane | true, false | bool |
gen_stationary_vehicle_1_rel_lon_distance_to_stationary_vehicle_2 |
Relative longitudinal distance from stationary_vehicle_1 to stationary_vehicle_2 | [10..20), every: 2.0 | m |
stationary_vehicle_1_rel_lon_distance_to_stationary_vehicle_2 |
Relative longitudinal distance from vehicle_1 to vehicle_2 | [10..20), every: 2.0 | m |
gen_stationary_vehicle_2_rel_lon_distance_to_stationary_vehicle_3 |
Relative longitudinal distance from stationary_vehicle_2 to stationary_vehicle_3 | [20..30), every: 2.0 | m |
stationary_vehicle_2_rel_lon_distance_to_stationary_vehicle_3 |
Relative longitudinal distance from vehicle_2 to vehicle_3 | [20..30), every: 2.0 | m |
gen_stationary_vehicle_3_rel_lon_distance_to_ego |
Relative longitudinal distance from stationary_vehicle_3 to the Ego | [25..35), every: 2.0 | m |
stationary_vehicle_3_rel_lon_distance_to_ego |
Relative longitudinal distance from vehicle_3 to the Ego | [25..35), every: 2.0 | m |
[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 |
140.6.1.2 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 |
|---|---|---|
| -- | -- | -- |
140.6.2 KPI
The key performance indicators are given below.
140.6.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_speed_at_after_implicits |
Actual speed of Ego at start | [0..150), every: 10.0 | kph |
[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 |
|---|---|---|---|
| -- | -- | -- | -- |