191. Ego free drive
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/free_drive/ego_free_drive/
In the ego_free_drive scenario, the Ego drives on an empty road in the absence of other actors.
191.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
191.2 Prerequisites
Environmental requirements: An empty road on any map.
191.3 Scenario essence
191.3.1 phase_essence
Ego: The Ego drives on ego_road_element at an initial speed of gen_ego_speed_at_start, positioned at distance_offset from the start of the ego_road_element.
191.4 Scenario Main phases
The ego_free_drive_main scenario is structured into three distinct phases.
191.4.1 phase_ego_warm_up
The phase_ego_warm_up invokes the free_drive_family_base_ego_warm_up scenario.
191.4.2 phase_essence
The phase_essence invokes the phase_essence.
191.4.3 phase_post
The phase_post invokes the free_drive_family_base_post scenario.
191.5 Parameters
The paths to the CSV file and the main CSV file are as follows:
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/free_drive/ego_free_drive.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/free_drive/ego_free_drive_main.csv
| Parameter | Description | Range |
|---|---|---|
gen_max_lanes |
Maximum number of lanes at road element | [1..5) |
gen_min_lanes |
Minimum number of lanes at the start | [1..4) |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
191.6 Events
| Description | Name |
|---|---|
191.7 Metrics
Metrics collected during test execution are given below.
191.7.1 Coverage
The coverage metrics are given below.
191.7.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
gen_max_lanes |
Maximum number of lanes at road element | [1..5), every: 1.0 | int |
gen_min_lanes |
Minimum number of lanes at the start | [1..4), every: 1.0 | int |
ego_time_gap_to_start_of_road_element |
Input time gap to start of road element. | [5..15), every: 1.0 | s |
max_lanes |
Maximum number of lanes on which the Ego is travelling | [1..5), every: 1.0 | uint |
min_lanes |
Minimum number of lanes on which the Ego is travelling | [1..4), every: 1.0 | uint |
[Click] The coverage items inherited from the sut.free_drive_family_base scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
sign_type |
Type of the road signs | stop, yield, other | traffic_sign_kind |
[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 |
191.7.1.2 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.free_drive_family_base scenario are as follows:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
[Click] The cross coverage items inherited from the sut.generic_base scenario are as follows:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
191.7.2 KPI
The key performance indicators are given below.
191.7.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_start_lane |
Starting lane of the Ego | uint |
[Click] The KPIs inherited from the sut.free_drive_family_base scenario 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 |
|---|---|---|---|
| -- | -- | -- | -- |
191.7.3 Checks
| Default severity | Description | Issue kind | Threshold |
|---|---|---|---|
191.8 Important notes
- The Ego's speed is set by soft constraint to [30..80]kph with a tolerance of [-3..3]kph.
- This scenario can be used on any road element of any map and is the basis for other scenarios in
$FTX_PACKAGES/base_scenarios/vehicle_maneuvers/osc/free/drive.