Ego merge common
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/ego_merge/ego_merge_common/
The ego_merge_common consists of common input variables, coverage, and KPIs for all the merging Ego scenarios.
| Parameter | Description | Range |
|---|---|---|
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
Events
Transient time-based objects that trigger predefined actions are as follows:
| Event | Description |
|---|---|
initial_phase_complete_event |
Ego merges into target lane in initial phase |
Metrics
Metrics collected during test execution are given below.
Coverage
The coverage metrics are given below.
Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
merge_location_type |
The Ego merge type (ramp/ lane end/ ramp exit/ road split) | acceleration_lane, ramp_to_exit, lane_end, road_split | force_merge_type |
ego_merge_side |
The Ego merge side to the highway or lane end | left, right | av_side |
merge_side_of_merging_vehicle |
The merge side of the merging vehicle | left, right | force_merge_side |
[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 |
Cross coverage items
The test execution data for the combination of multiple coverage items is as follows:
| Item | Description | Referred coverage items |
|---|---|---|
cross_ego_merge_side_merge_location_type |
The cross coverage of the Ego merge side and merge location type | ego_merge_side, merge_location_type |
[Click] The cross coverage items inherited from the sut.generic_base scenario are as follows:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
KPI
The key performance indicators are given below.
Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_changed_lane |
Did the Ego change lane | true, false | bool |
ego_slow_down |
Did the Ego slow down | true, false | bool |
road_to_force_merge_location_length |
The road to force merge location length | m | |
road_to_force_merge_end_offset_length |
The length of road to forced merge location till forced merge end offset | [0..2000), every: 200.0 | m |
ego_remaining_distance_percentage_on_road_to_force_merge_at_ego_switch_lane_end |
The percentage of the distance remaining that the Ego needs to drive to reach the forced merge location at the end of the Ego switch lane maneuver | [0..100), every: 10.0 | float |
[Click] The KPIs inherited from the sut.generic_base scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
Checks
| Default Severity | Description | Issue kind | Threshold |
|---|---|---|---|
| warning | A warning is issued if the Ego did not merge on the target lane | ego_did_not_merge_into_target_lane |
- |
| warning | A warning is issued if the Ego merged into the target lane in the initial_phase |
ego_merged_into_target_lane_in_initial_phase |
- |
| warning | A warning is issued if there are no vehicles behind the Ego after merging | ego_merged_at_last |
- |