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196. Approach junction introduction

The approach junction library components are located in $FTX_PACKAGES/base_scenarios/scenarios/junction_family, as illustrated in Figure 1. This package is designed to test the Ego's ability to safely approach and navigate through junctions while correctly interpreting traffic lights and signs. The scenarios include various vehicles and vulnerable road users (VRUs) around the Ego while it navigate the junction. The Ego must detect these elements and plan a safe path to exit the junction.

Figure 1: Junctions directory structure
Directory/File Description
test_suites A directory containing a test_suite_definitions and a templates folder. The test_suite_definitions folder contains the CSV files for executing junctions tests with FRun. The templates folder is used to generate tests to be executed with FRun.
scenarios A directory containing the OSC2 source files for each scenario.

196.1 Running a regression

To run a set of tests with FRun perform the following steps:

  1. Invoke FRun in batch mode with all the CSV files required for the set of tests that you chose.

    Example: 

    frun --csv $FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/junction_family/ego_traverse_junction.csv
 --csv $FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/junction_family/ego_traverse_junction_main.csv
 --csv $FTX_PACKAGES/common/csv/sim_manually_driven_kinematic_config.csv
 --csv $FTX_PACKAGES/common/csv/new_map_config.csv
 --batch

  2. Review the regression results in the default work directory.

    ~/foretify/sessions/<timestamp>/<timestamp>/