Junction family base
The junction_family_base consists of common input variables, coverage, and KPIs common across all junction scenarios.
Location: $FTX_PACKAGES/base_scenarios/scenarios/junction_family/junction_family_base/
Junction family ego_warm_up and post scenarios
The Junction scenarios use these ego_warm_up and post scenarios.
ego_traverse_junction
ego_traverse_junction_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
ego_traverse_junction_post
Ego: The Ego continues driving, maintaining its lane for the duration of gen_duration_at_post.
ego_traverse_junction_with_vehicle
ego_traverse_junction_with_vehicle_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
vehicle: The vehicle starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
ego_traverse_junction_with_vehicle_post
Ego: The Ego continues driving, maintaining its lane for the duration of gen_duration_at_post.
vehicle: The vehicle continues driving, maintaining its lane for the duration of gen_duration_at_post.
ego_traverse_junction_with_vehicle_and_traffic_group
ego_traverse_junction_with_vehicle_and_traffic_group_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
vehicle: The vehicle starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
traffic_group: The traffic_group starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
ego_traverse_junction_with_vehicle_and_traffic_group_post
Ego: The Ego continues driving, maintaining its lane for the duration of gen_duration_at_post.
vehicle: The vehicle continues driving, maintaining its lane for the duration of gen_duration_at_post.
traffic_group: The traffic_group continues driving, maintaining its lane for the duration of gen_duration_at_post.
ego_traverse_junction_with_multiple_vehicles
ego_traverse_junction_with_multiple_vehicles_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
vehicle_1: The vehicle_1 starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
vehicle_2: The vehicle_2 starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
vehicle_3: The vehicle_3 starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
vehicle_4: The vehicle_4 starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
vehicle_5: The vehicle_5 starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
ego_traverse_junction_with_multiple_vehicles_post
Ego: The Ego continues driving, maintaining its lane for the duration of gen_duration_at_post.
vehicle_1: The vehicle_1 continues driving, maintaining its lane for the duration of gen_duration_at_post.
vehicle_2: The vehicle_1 continues driving, maintaining its lane for the duration of gen_duration_at_post.
vehicle_3: The vehicle_1 continues driving, maintaining its lane for the duration of gen_duration_at_post.
vehicle_4: The vehicle_1 continues driving, maintaining its lane for the duration of gen_duration_at_post.
vehicle_5: The vehicle_1 continues driving, maintaining its lane for the duration of gen_duration_at_post.
Parameters
| Parameter | Description | Range |
|---|---|---|
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [5..70]kph |
Events
Transient time-based objects that trigger predefined actions are as follows:
| Event | Description |
|---|---|
ego_enters_junction |
Ego enters the junction |
ego_exits_junction |
Ego exits the junction |
ego_in_junction |
Ego is inside the junction |
ego_stops_for_max_time |
Ego stops for a duration > max_time_ego_stops |
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 |
|---|---|---|---|
ego_junction_leg_sign_type |
The sign type of the Ego junction leg | stop, yield, other, no_sign | path_sign_type |
number_of_lanes_at_ego_leg |
The number of lanes present in the in-road of the Ego | [1..6), every: 1.0 | uint |
[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 | [5..70), every: 5.0 | kph |
ego_speed_at_start |
Actual speed of the Ego at the start of the scenario | [5..70), every: 5.0 | kph |
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 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 |
|---|---|---|---|
junction_type |
Type of junction the Ego is traversing | other, urban, highway | junction_type |
ego_deceleration_record |
Ego deceleration at junction drive | mpsps |
[Click] The KPIs inherited from the sut.generic_base 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 |
|---|---|---|---|
warning |
Ego did not enter the junction during simulation | ego_did_not_enter_junction |
|
warning |
Ego did not exit the junction during simulation | ego_did_not_exit_junction |
|
warning |
The Ego was standing still with a speed lower than standstill_threshold (default 3.5kph) for more than max_time_vehicles_wait (default 6s) before exiting the junction |
ego_stopped |
max_time_vehicles_wait |
warning |
The Ego was standing still with a speed lower than standstill_threshold (default 3.5kph) for more than max_time_vehicles_wait (default 6s) |
ego_stopped |
max_time_vehicles_wait |
Note: When the ego_stopped issue is triggered as an error during the Ego's traversal of a junction, and the presence of other vehicles in the junction prevents the Ego from advancing, the error is downgraded to a warning.