162. Crossing VRU group

Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/crossing_vrus_family/crossing_vru_group/

In the crossing_vru_group scenario, a group of pedestrians crosses the road.

162.1 Actors

The actors associated with this scenario are as follows:

Name	Description	Type	Depiction
`vru_group`	Group of vulnerable road users, like pedestrians or cyclists	`plain_object`

Figure 1 shows the Crossing vru group scenario.

162.2 Prerequisites

Environmental requirements: A road of any map.

162.3 Scenario essence

162.3.1 phase_essence

162.3.1.1 vru_group_move_1_at_essence

When the move_trigger_event occurs, the vru_group performs a first group_move from the configured vru_group_start_position_params to the vru_group_mid_position_params over gen_move_vru_group_duration_1.

162.3.1.2 vru_group_move_2_at_essence

The group performs a second group_move to the vru_group_end_position_params with a duration in the range [gen_move_vru_group_duration_2 .. gen_move_vru_group_duration_2 + rotation_delay], allowing additional time for any rotation before completion.

162.4 Parameters

The paths to the CSV file and the main CSV file are as follows:

$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/crossing_vrus_family/ego_approach_congestion.csv

Parameter	Description	Range
`gen_vru_size_group`	Number of VRUs in the group	[1..11)
`gen_vru_group_rel_angle_to_road_at_start`	Relative angle between the vru_group and the road at the start	[0..360]degree
`gen_vru_group_rel_angle_to_road_at_end`	Relative angle between the vru_group and the road at the end	[0..360]degree
`gen_vru_group_side_at_start`	Side of the vru_group at the start	right, left
`gen_crossing_variant`	Crossing variant of the vru_group	crossing, shape_crossing, start_and_stop_crossing, go_and_return
`gen_trigger_time`	Waiting time of the vru_group between travelling and crossing	[2..16]s
`gen_move_vru_group_duration_1`	Duration of first movement	[2..10]s
`gen_move_vru_group_duration_2`	Duration of second movement	[2..10]s
`gen_vru_group_lon_offset_to_ego_start_at_crossing`	Distance between the vru_group’s reference position at the start and the Ego’s position at the start	[0..50]m
`gen_vru_group_lon_offset_to_ego_start_at_end`	Distance between the vru_group’s end position and the Ego’s position at the start	[-10..80]m
`gen_drive_path_fraction`	Input drive path fraction value	[0..100)

162.5 Usage

This scenario is used to test the vehicle's ability to detect and respond to pedestrians crossing the road.

162.6 Metrics

Metrics collected during test execution are given below.

162.6.1 Coverage

The coverage metrics are given below.

162.6.1.1 Coverage items

The multi-dimensional situations captured during the test execution are as follows:

Item	Description	Range	Unit/Type
`vru_group_side_at_end`	Side of the vru_group at the end	right, left	vru_group_positioning
`vru_kind`	Kind of vru_group	puddle, traffic_cone, person, cyclist, trailer, stationary_vehicle, animal, fod	object_kind
`ego_rel_time_gap_to_vru_at_start`	Time gap between the Ego and the VRU at the start	[1..5), every: 0.5	s
`vru_group_move_dist`	Euclidean distance between the vru_group’s start and end positions during crossing	[10..50), every: 5.0	m
`gen_vru_size_group`	Number of VRUs in the group	[1..11), every: 1.0	int
`gen_vru_group_rel_angle_to_road_at_start`	Relative angle between the vru_group and the road at the start	[0..360), every: 50.0	degree
`gen_vru_group_rel_angle_to_road_at_end`	Relative angle between the vru_group and the road at the end	[0..360), every: 50.0	degree
`gen_vru_group_side_at_start`	Side of the vru_group at the start	right, left	vru_group_positioning
`person_side_at_start`	Side of the vru_group at the start	right, left	vru_group_positioning
`gen_crossing_variant`	Crossing variant of the vru_group	crossing, shape_crossing, start_and_stop_crossing, go_and_return	vru_group_crossing_variant
`gen_trigger_time`	Waiting time of the vru_group between travelling and crossing	[2..16), every: 1.0	s
`gen_move_vru_group_duration_1`	Duration of first movement	[2..10), every: 1.0	s
`gen_move_vru_group_duration_2`	Duration of second movement	[2..10), every: 1.0	s
`gen_vru_group_lon_offset_to_ego_start_at_crossing`	Distance between the vru_group’s reference position at the start and the Ego’s position at the start	[0..50), every: 10.0	m
`gen_vru_group_lon_offset_to_ego_start_at_end`	Distance between the vru_group’s end position and the Ego’s position at the start	[-10..80), every: 10.0	m
`gen_drive_path_fraction`	Input drive path fraction value	[0..100), every: 10.0	int
`drive_path_fraction`	Input drive path fraction value	[0..100), every: 10.0	int
`number_of_vrus`	Number of VRUs in the vru_group	[1..11), every: 1.0	uint
`vru_group_speed_1`	Speed of the vru_group at the first movement	[0..150), every: 10.0	kph
`vru_yaw_1`	Relative angle of the vru_group at the first movement	[0..360), every: 50.0	degree
`vru_group_speed_2`	Speed of the vru_group at the second movement	[0..150), every: 10.0	kph
`vru_yaw_2`	Relative angle of the vru_group at the first movement	[0..360), every: 50.0	degree

162.6.1.2 Cross coverage items

The test execution data for the combination of multiple coverage items is as follows:

Item	Description	Referred coverage items
--	--	--

162.6.2 KPI

The key performance indicators are given below.

162.6.2.1 Record items

The performance metrics and the data items captured during the test execution are as follows:

Item	Description	Range	Unit/Type
`ego_pass_by_vru_sampled`	Ego passed the VRU until the VRU reached the end position, added vru_wait_end	true, false	bool

162.6.3 Checks

Default severity	Description	Issue kind	Threshold
`error`	VRU did not move a sufficient distance or for an adequate duration during the scenario	`vru_did_not_move`	distance: 0.1m, time: 1s
`error`	VRU started moving after the Ego passed its initial position	`vru_moved_behind_ego`	distance: < 0m