153. Motorcycle splitting lanes
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/adjacent_vrus_family/motorcycle_splitting_lanes/
In the motorcycle_splitting_lanes scenario, the motorcycle passes the Ego and the adjacent_vehicle along the lane line between them.
153.1 Actors
The actors associated with this scenario are as follows:
| Name | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
lead_vehicle |
Vehicle driving ahead of the Ego | vehicle |
 |
adjacent_vehicle_1 |
Vehicle driving on the left side of the Ego | vehicle |
 |
adjacent_vehicle_2 |
Vehicle driving on the av_side of the Ego | vehicle |
|
motorcycle |
Motorcycle | vehicle |
 |
153.2 Prerequisites
Environmental requirements: A road with at least three lanes.
153.3 Scenario essence
153.3.1 phase_essence
153.3.1.1 phase_essence_motorcycle_splitting_lanes
Ego: The Ego drives on the road ahead of the motorcycle.
lead_vehicle: The lead_vehicle drives ahead of the Ego on the same lane.
adjacent_vehicle_1: The adjacent_vehicle_1 is driving ahead in the Ego’s left lane.
adjacent_vehicle_2: The adjacent_vehicle_2 is driving behind in the Ego’s adjacent_vehicle_side.
motorcycle: At the start of the scenario, the motorcycle drives behind the Ego. In the middle of the scenario, the motorcycle drives between the Ego and the adjacent_vehicle on the lane separation line. By the end of the scenario, the motorcycle passes the Ego and may be positioned ahead of the Ego or ahead of the lead vehicle in the same lane as the Ego.
153.4 Scenario Main phases
The motorcycle_splitting_lanes_main scenario is structured into three distinct phases.
153.4.1 phase_ego_warm_up
The phase_ego_warm_up invokes the ego_drive_with_motorcycle_and_vehicles_ego_warm_up scenario.
153.4.2 phase_essence
The phase_essence invokes the phase_essence.
153.4.3 phase_post
The phase_post invokes the ego_drive_with_motorcycle_and_vehicles_post scenario.
153.5 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_vrus_family/motorcycle_splitting_lanes.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/adjacent_vrus_family/motorcycle_splitting_lanes_main.csv
| Parameter | Description | Range |
|---|---|---|
gen_motorcycle_speed |
Adjacent vehicle speed | [0..150]kph |
gen_vehicle_speed |
Adjacent vehicle speed | [0..150]kph |
gen_lead_vehicle_rel_pos_to_ego_at_start |
Lead vehicle relative position to the Ego at the start | [1..5]s |
gen_adjacent_vehicle_1_rel_pos_to_ego_at_split_phase_start |
Adjacent vehicle relative position to the Ego at the start | [1..2]s |
gen_adjacent_vehicle_2_rel_pos_to_ego_at_split_phase_start |
Adjacent vehicle relative position to the Ego at the start | [1..2]s |
gen_motorcycle_rel_pos_to_ego_at_start |
Motorcycle relative position to Ego at start | [4..7]s |
gen_motorcycle_split_side |
Splitting side of the motorcycle relative to the Ego | right, left |
gen_motorcycle_lat_offset_to_ego |
Lateral offset of the motorcycle relative to the Ego | [-1..1]m |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
153.6 Metrics
Metrics collected during test execution are given below.
153.6.1 Coverage
The coverage metrics are given below.
153.6.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
motorcycle_speed |
Speed of motorcycle | [0..150), every: 10.0 | kph |
gen_motorcycle_speed |
Adjacent vehicle speed | [0..150), every: 10.0 | kph |
vehicle_speed |
Speed of adjacent_vehicle_1 | [0..150), every: 10.0 | kph |
motorcycle_rel_pos_to_ego_at_start |
Motorcycle relative position to the Ego at the start | [4..7), every: 0.5 | s |
lead_vehicle_rel_pos_to_ego_at_start |
Lead vehicle relative position to the Ego at the start | [1..5), every: 0.5 | s |
gen_vehicle_speed |
Adjacent vehicle speed | [0..150), every: 10.0 | kph |
gen_lead_vehicle_rel_pos_to_ego_at_start |
Lead vehicle relative position to the Ego at the start | [1..5), every: 0.5 | s |
gen_adjacent_vehicle_1_rel_pos_to_ego_at_split_phase_start |
Adjacent vehicle relative position to the Ego at the start | [1..2), every: 0.5 | s |
gen_adjacent_vehicle_2_rel_pos_to_ego_at_split_phase_start |
Adjacent vehicle relative position to the Ego at the start | [1..2), every: 0.5 | s |
gen_motorcycle_rel_pos_to_ego_at_start |
Motorcycle relative position to Ego at start | [4..7), every: 0.5 | s |
gen_motorcycle_split_side |
Splitting side of the motorcycle relative to the Ego | right, left | line |
gen_motorcycle_lat_offset_to_ego |
Lateral offset of the motorcycle relative to the Ego | [-1..1), every: 0.5 | m |
motorcycle_speed_at_motorcycle_besides_ego |
Speed of the motorcycle when it is beside the Ego | [0..150), every: 10.0 | kph |
ego_speed_at_motorcycle_besides_ego |
Speed of the Ego when the motorcycle is next to it | [0..150), every: 10.0 | kph |
motorcycle_speed_at_end |
Speed of motorcycle at end | [0..150), every: 10.0 | kph |
adjacent_vehicle_1_rel_pos_to_ego_at_split_phase_start |
Relative position of the adjacent_vehicle to the Ego at the start | [1..2), every: 0.5 | s |
motorcycle_split_side |
Side from which the motorcycle splits in relation to the Ego | left, right | av_side |
adjacent_vehicle_2_rel_pos_to_ego_at_split_phase_start |
Relative position of the adjacent_vehicle to the Ego at the start | [1..2), every: 0.5 | s |
motorcycle_lat_offset_to_ego |
Lateral offset of the motorcycle from the Ego | [-1..1), every: 0.5 | m |
[Click] The coverage items inherited from the sut.adjacent_vrus_family_base 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 |
153.6.1.2 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.adjacent_vrus_family_base 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 |
|---|---|---|
| -- | -- | -- |
153.6.2 KPI
The key performance indicators are given below.
153.6.2.1 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.adjacent_vrus_family_base 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 |
|---|---|---|---|
| -- | -- | -- | -- |
153.6.3 Checks
The captured problematic behavior or conditions are as follows:
| Default severity | Description | Issue kind | Threshold |
|---|---|---|---|
other_warning |
The scenario triggers a warning if the Ego speeds up when the motorcycle is within the defined threshold range from the Ego | ego_speed_is_greater_than_motorcycle |
10meter |
error |
The motorcycle did not bypass the Ego | motorcycle_did_not_bypass_ego |
If distance is greater than 0meter |
153.7 Note
- The Ego drives in the outermost lane, so
adjacent_vehicle_1is in the lane to the left of the Ego.