Ego merge family base
The ego_merge_family_base consists of input variables, coverage, and KPIs common across all stationary object scenarios.
Location: $FTX_PACKAGES/base_scenarios/scenarios/ego_merge/ego_merge_family_base/
Ego merge family ego_warm_up and post scenarios
The Ego merge scenarios use these ego_warm_up and post scenarios.
consecutive_ego_merge
consecutive_ego_merge_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
lane_1_lead_vehicle: The lane_1_lead_vehicle starts driving in lane 1 ahead of Ego for the duration of gen_duration_at_ego_warm_up.
lane_1_traffic_vehicle: The lane_1_traffic_vehicle starts driving in lane 1 for the duration of gen_duration_at_ego_warm_up.
lane_2_traffic_vehicle: The lane_2_traffic_vehicle starts driving in lane 2 for the duration of gen_duration_at_ego_warm_up.
lane_2_lead_vehicle: The lane_2_lead_vehicle starts driving in lane 2 ahead of Ego for the duration of gen_duration_at_ego_warm_up.
consecutive_ego_merge_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lane_1_lead_vehicle: The lane_1_lead_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lane_1_traffic_vehicle: The lane_1_traffic_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lane_2_traffic_vehicle: The lane_2_traffic_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lane_2_lead_vehicle: The lane_2_lead_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
ego_merge_with_forced_stop
ego_merge_with_forced_stop_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
blocking_vehicle: The blocking_vehicle starts driving ahead of the Ego in the target merge lane for the duration of gen_duration_at_ego_warm_up.
ego_merge_with_forced_stop_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
blocking_vehicle: The blocking_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
ego_merge_with_lane_change_vehicle_to_target_lane
ego_merge_with_lane_change_vehicle_to_target_lane_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
lead_vehicle: The lead_vehicle starts driving ahead of Ego in the same lane for the duration of gen_duration_at_ego_warm_up.
lane_change_vehicle: The lane_change_vehicle starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
follow_vehicle: The follow_vehicle starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
follow_vehicle_group: The follow_vehicle_group drives together as a single-lane car group with follow_vehicle as the reference car for the duration of gen_duration_at_ego_warm_up.
ego_merge_with_lane_change_vehicle_to_target_lane_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lead_vehicle: The lead_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lane_change_vehicle: The lane_change_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
follow_vehicle: The follow_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
follow_vehicle_group: The follow_vehicle_group continues driving together as a single-lane car group with follow_vehicle as the reference car for the duration of gen_duration_at_post.
ego_merge_at_characteristic_forced_merge_locations
ego_merge_at_characteristic_forced_merge_locations_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
lead_vehicle: The lead_vehicle starts driving ahead of Ego for the duration of gen_duration_at_ego_warm_up.
follow_vehicle_1: The follow_vehicle_1 starts driving behind the lead_vehicle for the duration of gen_duration_at_ego_warm_up.
follow_vehicle_2: The follow_vehicle_2 starts driving behind the Ego for the duration of gen_duration_at_ego_warm_up.
follow_vehicle_2_group: The follow_vehicle_2_group drives together as a single-lane car group with follow_vehicle_2 as the reference car for the duration of gen_duration_at_ego_warm_up.
ego_merge_at_characteristic_forced_merge_locations_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lead_vehicle: The lead_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
follow_vehicle_1: The follow_vehicle_1 continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
follow_vehicle_2: The follow_vehicle_2 continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
follow_vehicle_2_group: The follow_vehicle_2_group continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
ego_merge_into_traffic_which_stops_and_go
ego_merge_into_traffic_which_stops_and_go_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
lead_vehicle: The lead_vehicle starts driving ahead of Ego in the same lane for the duration of gen_duration_at_ego_warm_up.
jam_vehicle: The jam_vehicle starts driving in the target merge lane for the duration of gen_duration_at_ego_warm_up.
give_way_vehicle: The give_way_vehicle starts driving in the target merge lane for the duration of gen_duration_at_ego_warm_up.
jam_vehicle_group: The jam_vehicle_group drives together as a single-lane car group in the target merge lane with jam_vehicle as the reference car for the duration of gen_duration_at_ego_warm_up.
follow_vehicle_group: The follow_vehicle_group drives together as a single-lane car group in the target merge lane with give_way_vehicle as the reference car for the duration of gen_duration_at_ego_warm_up.
ego_merge_into_traffic_which_stops_and_go_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lead_vehicle: The lead_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
jam_vehicle: The jam_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
give_way_vehicle: The give_way_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
jam_vehicle_group: The jam_vehicle_group continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
follow_vehicle_group: The follow_vehicle_group continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
ego_merge_into_vehicle_groups
ego_merge_into_vehicle_groups_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
lead_vehicle_for_vehicle_group: The lead_vehicle_for_vehicle_group starts driving on the target merge highway for the duration of gen_duration_at_ego_warm_up.
vehicle_group: The vehicle_group drives together as a single-lane car group on the target merge highway with lead_vehicle_for_vehicle_group as the reference car for the duration of gen_duration_at_ego_warm_up.
ego_merge_into_vehicle_groups_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lead_vehicle_for_vehicle_group: The lead_vehicle_for_vehicle_group continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
vehicle_group: The vehicle_group continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
ego_merge_with_leading_mergers
ego_merge_with_leading_mergers_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
lead_vehicle: The lead_vehicle starts driving ahead of Ego on highway entry for the duration of gen_duration_at_ego_warm_up.
follow_vehicle: The follow_vehicle starts driving behind Ego on highway entry for the duration of gen_duration_at_ego_warm_up.
ftx_driver_vehicle: The ftx_driver_vehicle starts driving on highway entry for the duration of gen_duration_at_ego_warm_up.
lead_traffic_vehicle: The lead_traffic_vehicle starts driving on the highway for the duration of gen_duration_at_ego_warm_up.
traffic_vehicle_group: The traffic_vehicle_group drives together as a single-lane car group with lead_traffic_vehicle as the reference car for the duration of gen_duration_at_ego_warm_up.
ego_merge_with_leading_mergers_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lead_vehicle: The lead_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
follow_vehicle: The follow_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
ftx_driver_vehicle: The ftx_driver_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lead_traffic_vehicle: The lead_traffic_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
traffic_vehicle_group: The traffic_vehicle_group continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
ego_merge_at_zipper_merge
ego_merge_at_zipper_merge_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
lead_vehicle: The lead_vehicle starts driving ahead of the Ego for the duration of gen_duration_at_ego_warm_up.
middle_vehicle: The middle_vehicle starts driving for the duration of gen_duration_at_ego_warm_up.
merge_vehicle: The merge_vehicle starts driving for the duration of gen_duration_at_ego_warm_up.
follow_vehicle: The follow_vehicle starts driving for the duration of gen_duration_at_ego_warm_up.
follow_vehicle_group: The follow_vehicle_group drives together as a single-lane car group with the follow_vehicle as the reference car, for the duration of gen_duration_at_ego_warm_up.
ego_merge_at_zipper_merge_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
lead_vehicle: The lead_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
middle_vehicle: The middle_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
merge_vehicle: The merge_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
follow_vehicle: The follow_vehicle continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
follow_vehicle_group: The follow_vehicle_group continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
Parameters
| 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 |
|---|---|---|---|
| -- | -- | -- | -- |
[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 into 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 |
- |