124. Swirling vehicle drive
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/free_drive/free_drive_swirl_family/
In the free_drive_swirl_family scenario, the vehicle with an unstable lateral movement swirls laterally without the restriction of staying in a lane. This lateral swirl can be added to any vehicle; the amplitude, period, and frequency of swirling can change throughout the swirling.
124.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
swirling_vehicle |
Vehicle with an unstable lateral movement swirls laterally | vehicle |
 |
124.2 Prerequisites
Environmental requirements: A road of any map.
124.3 Scenario essence
124.3.1 phase_essence
swirling_vehicle: The swirling vehicle moves at gen_swirling_vehicle_speed and changes its shape and how it swirls.
124.4 Scenario Main phases
The free_drive_swirl_family_main scenario is structured into three distinct phases.
124.4.1 phase_ego_warm_up
The phase_ego_warm_up invokes the free_drive_swirl_family_base_warm_up scenario.
124.4.2 phase_essence
The phase_essence invokes the phase_essence.
124.4.3 phase_post
The phase_post invokes the free_drive_swirl_family_base_post scenario.
124.5 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/free_drive_swirl_family.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/free_drive/free_drive_swirl_family_main.csv
The parameters you can constrain to create tests with the free_drive_swirl_family.csv file are as follows:
| Parameter | Description | Range |
|---|---|---|
gen_swirling_vehicle_speed |
Speed of the swriling vehicle | [40..70]kph |
gen_swirling_lat_amplitude_at_start |
Swirling amplitude at the start of the shape | [0.5..1]m |
gen_swirling_period_at_start |
swriling period at the start | [1..2]s |
gen_swirl_duration |
Input duration of swirling | [3..6]s |
gen_swirling_lat_amplitude_at_end |
Swirling amplitude at the end of the shape | [1..1.6]m |
gen_swirling_period_at_end |
swriling period at the end | [2..3]s |
124.6 Events
| Description | Name |
|---|---|
124.7 Metrics
Metrics collected during test execution are given below.
124.7.1 Coverage
The coverage metrics are given below.
124.7.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
gen_swirling_vehicle_speed |
Speed of the swriling vehicle | [40..70), every: 5.0 | kph |
gen_swirling_lat_amplitude_at_start |
Swirling amplitude at the start of the shape | [0.5..1), every: 0.1 | m |
gen_swirling_period_at_start |
swriling period at the start | [1..2), every: 0.2 | s |
gen_swirl_duration |
Input duration of swirling | [3..6), every: 0.5 | s |
gen_swirling_lat_amplitude_at_end |
Swirling amplitude at the end of the shape | [1..1.6), every: 0.1 | m |
gen_swirling_period_at_end |
swriling period at the end | [2..3), every: 0.2 | s |
swirling_vehicle_speed |
Speed of the swirling vehicle at the start of the shape | [40..70), every: 5.0 | kph |
lat_swirling_period_at_start |
A time period of sinusoidal swirling motion at the start of the shape | [1..2), every: 0.2 | s |
swirl_duration |
Duration of the swirling shape | [3..6), every: 0.5 | s |
lat_swirling_period_at_end |
A time period of sinusoidal swirling motion at the end of the shape | [2..3), every: 0.2 | s |
swirling_period_at_start |
Time that the vehicle starts swirling | [1..2), every: 0.2 | s |
swirling_period_at_end |
Time that the swirling ends | [2..3), every: 0.2 | s |
swirling_lat_amplitude_at_end |
Swriling amplitude at the end of the shape | [1..1.6), every: 0.1 | m |
swirling_lat_amplitude_at_start |
Swirling amplitude at the start of the shape | [0.5..1), every: 0.1 | m |
124.7.1.2 Cross coverage items
The test execution data for the combination of multiple coverage items is as follows:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
124.7.2 KPI
The key performance indicators are given below.
124.7.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
124.7.3 Checks
| Default severity | Description | Issue kind | Threshold |
|---|---|---|---|