192. Ego speed limit change
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/free_drive/ego_speed_limit_change/
In the ego_speed_limit_change scenario, the Ego drives on a path where the speed limit changes. Here, it should accelerate and decelerate appropriately.
192.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
192.2 Prerequisites
Environmental requirements: A road with different speed limits.
192.3 Scenario essence
192.3.1 phase_essence
Ego: During drive_1_ego_at_essence, the Ego starts at the beginning of road_1, and follows road_1's speed limit. Subsequently, in drive_2_ego_at_essence, the Ego moves to road_2, starting at the beginning of the road and matching road_2's speed limit.
192.4 Scenario Main phases
The ego_speed_limit_change_main scenario is structured into three distinct phases.
192.4.1 phase_ego_warm_up
The phase_ego_warm_up invokes the free_drive_family_base_ego_warm_up scenario.
192.4.2 phase_essence
The phase_essence invokes the phase_essence.
192.4.3 phase_post
The phase_post invokes the free_drive_family_base_post scenario.
192.5 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_speed_limit_change.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/free_drive/ego_speed_limit_change_main.csv
The parameters you can constrain to create tests with the ego_speed_limit_change.csv file are as follows:
| Parameter | Description | Range |
|---|---|---|
gen_road_1_speed_limit |
Input speed limit 1 at start | [10..120]kph |
gen_road_2_speed_limit |
Input speed limit 2 at start | [10..120]kph |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
192.6 Events
| Description | Name |
|---|---|
192.7 Metrics
Metrics collected during test execution are given below.
192.7.1 Coverage
The coverage metrics are given below.
192.7.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
road_1_speed_limit |
road 1 speed limit | [10..120), every: 10.0 | kph |
road_2_speed_limit |
road 2 speed limit | [10..120), every: 10.0 | kph |
speed_diff_at_start |
Difference between speed limit and sut.car.state.speed at start | [0..50), every: 5.0 | kph |
has_stationary_object |
stationary objects | true, false | bool |
speed_diff_at_end |
Difference between speed limit and sut.car.state.speed at end | [0..50), every: 5.0 | kph |
speed_diff_at_limit_pos |
Difference between speed limit and sut.car.state.speed at speed limit changing position | [0..50), every: 5.0 | kph |
gen_road_1_speed_limit |
Input speed limit 1 at start | [10..120), every: 10.0 | kph |
gen_road_2_speed_limit |
Input speed limit 2 at start | [10..120), every: 10.0 | kph |
[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 |
192.7.1.2 Cross coverage items
The test execution data for the combination of multiple coverage items is as follows:
| Item | Description | Referred coverage items |
|---|---|---|
road_1_speed_limit_road_2_speed_limit |
cross between start and end speed limits | road_1_speed_limit, road_2_speed_limit |
[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 |
|---|---|---|
| -- | -- | -- |
192.7.2 KPI
The key performance indicators are given below.
192.7.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
[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 |
|---|---|---|---|
| -- | -- | -- | -- |
192.7.3 Checks
| Default severity | Description | Issue kind | Threshold |
|---|---|---|---|
error |
The road speed limit did not change | no_speed_limit_change | - |