Emergency vehicle family base
The emergency_vehicle_family_base consists of common input variables, coverage, and KPIs common across all emergency vehicle scenarios.
Location: $FTX_PACKAGES/base_scenarios/scenarios/emergency_event_family/emergency_vehicle_family_base/
Emergency vehicle family ego_warm_up and post scenarios
The emergency vehicle family scenarios use these ego_warm_up and post scenarios.
emergency_vehicle_approaching_from_behind
emergency_vehicle_approaching_from_behind_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane and speed for the duration of gen_duration_at_ego_warm_up.
emergency_vehicle: The emergency vehicle is driving and attempts to maintain its lane and speed. Its siren and emergency lights are activated based on the gen_emergency_vehicle_siren_state and gen_emergency_vehicle_lights_state parameters.
emergency_vehicle_approaching_from_behind_post
Ego: The Ego continues driving, maintaining its lane and speed for the duration of gen_duration_at_post.
emergency_vehicle: The emergency_vehicle continues driving.
emergency_vehicle_drives_and_stop
emergency_vehicle_drives_and_stop_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane and speed.
emergency_vehicle: The emergency vehicle starts driving with its siren and emergency lights active. It maintains its lane and speed, and its starting position is relative to the Ego.
vehicle_1: Starts driving, maintaining its lane and speed.
car_group: A group of cars starts driving.
emergency_vehicle_drives_and_stop_post
Ego: The Ego continues driving, maintaining its lane and speed.
emergency_vehicle: The emergency vehicle continues to drive, maintaining its lane and speed.
vehicle_1: Continues to drive, maintaining its lane and speed.
car_group: The group of cars continues to drive.
stationary_vehicle_with_emergency_lights
stationary_vehicle_with_emergency_lights_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane and speed.
stationary_vehicle: The stationary vehicle is positioned on the road with a specified lateral offset from the center of the lane.
stationary_vehicle_with_emergency_lights_post
Ego: The Ego continues driving, maintaining its lane and speed.
stationary_vehicle: The stationary vehicle remains in its position on the road.
Parameters
| Parameter | Description | Range |
|---|---|---|
gen_emergency_vehicle_siren_state |
State of the emergency vehicle's siren | active, off |
gen_emergency_vehicle_lights_state |
State of the emergency vehicle's lights | active, off |
gen_ego_reaction_distance |
Ego's reaction distance | [20..30]m |
gen_emergency_vehicle_speed |
Input speed of the emergency vehicle | ftlx_lib_base_config.default_vehicle_speed_range |
gen_duration_at_ego_warm_up |
Duration of Ego warm-up | [1..10]s |
duration_at_post_phase |
Duration of post-phase | ftlx_lib_base_config.default_post_phase_duration |
gen_stationary_vehicle_road_placement |
Road placement of the stationary vehicle | off_road, on_road |
Events
No events are defined in this scenario.
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 |
|---|---|---|---|
[Click] The coverage items inherited from the sut.generic_base_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
curve_road_direction |
Direction of the road curvature | left_curve, right_curve, neither | curve_direction |
min_road_element_radius |
Minimum radius of the road | [0..100), [100..150), [150..200), [200..300), [300..400), [400..600), [600..800), [800..1000), [1000..1200), [1200..1400), [1400..1600), [1600..1800), [1800..2000), [2000..2400), [2400..2800), [2800..3200), [3200..3600), [3600..4000), [4000..5000), [5000..6000), [6000..8000), [8000..10000), [10000..20000) | m |
max_road_element_radius |
Maximum radius of the road | [0..100), [100..150), [150..200), [200..300), [300..400), [400..600), [600..800), [800..1000), [1000..1200), [1200..1400), [1400..1600), [1600..1800), [1800..2000), [2000..2400), [2400..2800), [2800..3200), [3200..3600), [3600..4000), [4000..5000), [5000..6000), [6000..8000), [8000..10000), [10000..20000) | m |
ego_speed_on_curve_road_element |
Speed of the Ego on the curved road | [0..70), every: 10.0 | kph |
main_road_type |
Type of road in the scenario on which the Ego was driving | none, off_highway, highway, junction, merging_lane | road_type_list |
avg_curve_radius |
Average curve radius throughout the scenario | [0..4900), every: 150.0 | m |
road_element_sign_type |
Type of traffic signal | stop, yield, other | traffic_sign_kind |
ego_road_element_max_lanes |
Maximum number of lanes on which the Ego is travelling | [1..6), every: 1.0 | uint |
ego_road_element_min_lanes |
Minimum number of lanes on which the Ego is travelling | [1..6), every: 1.0 | uint |
ego_road_element_legal_speed |
Ego's legal speed on the road element | [5.0..9.0), [9.0..10.0), [10.0..12.0), [12.0..15.0), [15.0..20.0), [20.0..25.0), [25.0..30.0), [30.0..35.0), [35.0..40.0), [40.0..45.0), [45.0..46.0), [46.0..50.0), [50.0..55.0), [55.0..57.0), [57.0..58.0), [58.0..60.0), [60.0..62.0), [62.0..65.0), [65.0..70.0), [70.0..75.0) | kph |
vanishing_lane |
Did the vehicle enter the vanishing lane | true, false | bool |
emerging_lane |
Did the vehicle enter the emerging lane | true, false | bool |
gen_ego_speed_at_start |
Input speed of the Ego | [0..70), every: 10.0 | kph |
ego_speed_at_start |
Actual speed of the Ego at the start of the scenario | [0..70), every: 10.0 | kph |
[Click] The coverage items inherited from the sut.sdm_base_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
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.generic_base_scenario scenario are as follows:
| Item | Description | Referred coverage items |
|---|---|---|
cross_ego_speed_on_curve_road_element_min_road_element_radius |
Cross cover of Ego's speed on curved road and road radius | ego_speed_on_curve_road_element, min_road_element_radius |
cross_min_road_element_radius_curve_road_direction |
Cross cover of curved road direction and road radius | min_road_element_radius, curve_road_direction |
[Click] The cross coverage items inherited from the sut.sdm_base_scenario 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 scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_speed_at_end |
Actual speed of the Ego at the end of the scenario | [0..70), every: 10.0 | kph |
ego_avg_lon_acceleration |
Average longitudinal acceleration of the Ego throughout the scenario | [-3..2), every: 1.0 | mpsps |
ego_max_lat_acceleration |
Maximum absolute lateral acceleration of the Ego | [0..5), every: 1.0 | mpsps |
ego_max_lon_acceleration |
Maximum longitudinal acceleration of the Ego | [0..20), every: 1.0 | mpsps |
ego_min_lon_lane_distance |
Minimum longitudinal distance between the Ego and any actor in the lane coordinate system | [0..2), every: 0.2 | m |
ego_min_lat_lane_distance |
Minimum lateral distance between the Ego and any actor in the lane coordinate system | [0..2), every: 0.2 | m |
ego_min_euclidean_distance |
Minimum euclidean distance between the Ego and any actor | [0..200), every: 20.0 | m |
ego_min_ttc |
Minimum TTC between the Ego and any actor | [0..6), every: 0.5 | s |
ego_min_thw |
Minimum THW between the Ego and any actor | [0..31), every: 1.0 | s |
ego_collided |
Collision event between the Ego and any actor | true, false | bool |
min_road_element_curvature |
Minimum curvature of the road | float | |
max_road_element_curvature |
Maximum curvature of the road | float | |
ego_min_lon_acceleration |
Minimum longitudinal acceleration of the Ego | [-10..0), every: 1.0 | mpsps |
road_curvature_raw_value |
Raw value of road curvature | m | |
ego_collision_velocity |
Collision velocity at the time of the collision between the Ego and any actor in the event of a collision | [2..14), every: 5.0 | kph |
ego_side_of_collision |
Side of Ego on which collision occured | front, front_left, left, back_left, back, back_right, right, front_right, other | av_car_side |
ego_min_speed_at_possible_collision |
Minimum speed of the Ego at the possible collision | [0..70), every: 10.0 | kph |
ego_max_speed_at_possible_collision |
Maximum speed of the Ego at the possible collision | [0..70), every: 10.0 | kph |
ego_min_acceleration_at_possible_collision |
Minimum acceleration of the Ego at the possible collision | [-10..0), every: 1.0 | mpsps |
ego_max_acceleration_at_possible_collision |
Maximum acceleration of the Ego at the possible collision | [0..20), every: 1.0 | mpsps |
ego_ttc_at_possible_collision |
Ego's TTC at the possible collision | s |
[Click] The KPIs inherited from the sut.sdm_base_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
Checks
The captured problematic behavior or conditions are as follows:
| Default Severity | Description | Issue kind | Threshold |
|---|---|---|---|