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158. Crossing VRUs introduction

The Crossing VRUs library components are located in $FTX_PACKAGES/base_scenarios/scenarios/crossing_vrus_family as shown in Figure 1.

Figure 1: Crossing VRUs Family directory structure
Directory/File Description
test_suites A directory containing a test_suite_definitions and a templates folder. The test_suite_definitions folder contains CSV files for executing crossing VRUs tests with FRun. The templates folder is used to generate tests to be executed with FRun.
scenarios A directory containing the OSC2 source files for each scenario.

158.1 Running a regression

To run a set of tests with FRun:

  1. Invoke FRun in batch mode with all the CSV files required for the set of tests that you chose.

    For example: 

    frun --csv $FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/crossing_vrus_family/ego_drive_with_vru_group_crossing_road.csv 
 --csv $FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/crossing_vrus_family/ego_drive_with_vru_group_crossing_road_main.csv 
 --csv $FTX_PACKAGES/common/csv/sim_manually_driven_kinematic_config.csv 
 --csv $FTX_PACKAGES/common/csv/new_map_config.csv
 --batch

  2. Review the regression results in the default work directory.

    ~/foretify/sessions/<timestamp>/<timestamp>/

158.2 Person parameters

The person parameters are described in the following table:

Parameter Description Range
person_age_group The age group of the person. child, adult
person_gender The gender of the person. male, female
drive_path_fraction The longitudinal reference point along the drive route where the person crosses expressed as a percentage of the drive route. [0..100]
person_initial_yaw The direction the person is facing. [0..360]degree
ego_lat_offset_to_person_at_start Lateral offset of the person at the start person_side_at_start = nearside: [-5..-1.5]meter, person_side_at_start = farside: [1.5..5]meter
ego_lat_offset_to_person_at_end Lateral offset of the person at the end person_side_at_start = nearside: [1.5..5]meter, person_side_at_start = farside: [-5..-1.5]meter
move_person_duration Duration of the person move [2..10]s
person_side_at_start Initial side of person nearside, farside

158.3 Coverage metrics

The metrics that are collected for the crossing persons are as follows:

Item Unit / Type Range Description
person_speed mps [0..5] Speed of the person.
person_yaw_while_crossing_path degree [0..360] Yaw of the person when crossing the path.
ego_distance_to_person meter [20..30] Distance between the Ego and person when person begins to cross the path.
person_side_at_start side nearside, farside The side from which the person crosses.