230. Lead vehicle and slow
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/lead_vehicle/lead_vehicle_and_slow/
In the lead_vehicle_and_slow scenario, the lead vehicle slows down, and the Ego adjusts to the speed of the lead vehicle.
230.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
lead_vehicle |
Vehicle driving ahead of the Ego | vehicle |
 |
230.2 Prerequisites
Environmental requirements: A road with at least two lanes.
230.3 Scenario essence
230.3.1 phase_essence
230.3.1.1 lead_vehicle_at_essence
This phase invokes the lead_vehicle scenario.
230.3.1.2 phase_essence_slow
lead_vehicle: The lead_vehicle slows down.
Ego: The Ego adjusts to the speed of the lead_vehicle.
230.4 Scenario Main phases
The lead_vehicle_and_slow_main scenario is structured into three distinct phases.
230.4.1 phase_ego_warm_up
The phase_ego_warm_up invokes the lead_vehicle_family_base_ego_warm_up scenario.
230.4.2 phase_essence
The phase_essence invokes the phase_essence.
230.4.3 phase_post
The phase_post invokes the lead_vehicle_family_base_post scenario.
230.5 Parameters
The paths to the CSV file and the main CSV file are as follows:
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/lead_vehicle/lead_vehicle_and_slow.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/lead_vehicle/lead_vehicle_and_slow_main.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/lead_vehicle/lead_vehicle.csv
The parameters you can constrain to create tests with the lead_vehicle_and_slow.csv file are as follows:
| Parameter | Description | Range |
|---|---|---|
gen_lead_vehicle_category |
Kind of lead_vehicle | sedan, van, bus, box_truck, semi_trailer_truck, full_trailer_truck, motorcycle, bicycle |
gen_lead_vehicle_rel_speed_to_ego_at_start |
Generated relative speed of the lead_vehicle to the Ego at the start of the scenario | [-70..35]kph |
gen_ego_time_gap_to_lead_vehicle_at_start |
Generated relative time distance between the lead_vehicle and the Ego at the start of the scenario | [1..5]s |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
The scenario sut.lead_vehicle is included in the scenario sut.lead_vehicle_and_slow, with the option to constrain the following input parameters:
| Parameter | Description | Range |
|---|---|---|
gen_lead_vehicle_rel_speed_to_ego_at_start |
Generated relative speed of the lead_vehicle to the Ego at the start of the scenario | [-70..35]kph |
gen_ego_time_gap_to_lead_vehicle_at_start |
Generated relative time distance between the lead_vehicle and the Ego at the start of the scenario | [1..5]s |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
230.6 Events
| Description | Name |
|---|---|
| Lead vehicle starts decelerating | lead_vehicle_decel |
| Ego vehicle starts decelerating | ego_decel |
230.7 Metrics
Metrics collected during test execution are given below.
230.7.1 Coverage
The coverage metrics are given below.
230.7.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
min_distance_to_lead_vehicle_cover |
Minimum distance between the Ego and lead vehicle throughoutthe scenario (in meters). | [0..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..40), [40..50), [50..100) | m |
lead_vehicle_speed_at_end |
The speed of lead vehicle at end scenario | [0..150), every: 10.0 | kph |
lead_vehicle_speed_at_slow_end |
Lead vehicle speed at the end of deceleration | [0..150), every: 10.0 | kph |
ego_distance_to_lead_vehicle_at_slow_end |
Distance between lead vehicle and the Ego at phase_essence_slow end | [1..10), every: 1.0 | m |
ego_speed_at_slow_end |
Speed of Ego at phase_essence_slow end | [0..150), every: 10.0 | kph |
ego_rel_speed_to_lead_vehicle_at_slow_end |
Relative speed between lead vehicle and the Ego at phase_essence_slow end | [-70..35), every: 10.0 | kph |
ego_speed_at_slow_start |
Ego speed at phase_essence_slow starts | [0..150), every: 10.0 | kph |
ego_rel_speed_to_lead_vehicle_at_slow_start |
Relative speed between lead vehicle and the Ego at phase_essence_slow start | [-70..35), every: 10.0 | kph |
ego_rel_distance_to_lead_vehicle_at_slow_start |
Distance between the Ego and lead vehicle at phase_essence_slow start | [1..10), every: 1.0 | m |
lead_vehicle_speed_at_essence_start |
The speed of lead vehicle at start scenario | [0..150), every: 10.0 | kph |
gen_lead_vehicle_category |
Kind of lead_vehicle | sedan, van, bus, box_truck, semi_trailer_truck, full_trailer_truck, motorcycle, bicycle | vehicle_category |
duration_at_essence_slow |
Duration of the phase_essence_slow | [3..5), every: 1.0 | s |
planned_deceleration_slow |
Planned deceleration of the lead vehicle (in meter_per_second_per_second) | [0.5..3), every: 0.5 | mpsps |
[Click] The coverage items inherited from the sut.lead_vehicle_family_base scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
gen_lead_vehicle_rel_speed_to_ego_at_start |
Generated relative speed of the lead_vehicle to the Ego at the start of the scenario | [-70..35), every: 10.0 | kph |
gen_ego_time_gap_to_lead_vehicle_at_start |
Generated relative time distance between the lead_vehicle and the Ego at the start of the scenario | [1..5), every: 0.5 | s |
lead_vehicle_speed_at_start |
Speed of the lead_vehicle at the start of the scenario | [0..150), every: 10.0 | kph |
lead_vehicle_rel_speed_to_ego_at_start |
Relative speed of the lead_vehicle to the Ego at the start of the scenario | [-70..35), every: 10.0 | kph |
ego_time_gap_to_lead_vehicle_at_start |
Relative time distance between the lead_vehicle and the Ego at the start of the scenario | [1..5), every: 0.5 | s |
ego_time_head_way_to_lead_vehicle_at_start |
Ego time headway to lead_vehicle at start | [1..10), every: 0.5 | s |
lead_vehicle_lat_offset_at_start |
Lateral offset of the lead_vehicle at the start of the scenario | [-1..1), every: 0.5 | m |
ego_speed_at_essence_start |
The speed of the Ego at essence_start | [0..150), every: 10.0 | kph |
number_of_lanes |
Number of lanes at the start of the scenario | [1..6), every: 1.0 | uint |
lead_vehicle_lon_distance_to_ego_at_essence_start |
Distance between the Ego and the lead_vehicle at essence_start | [5..100), every: 5.0 | m |
lead_vehicle_speed_at_lead_end |
Speed of the lead_vehicle at lead_end | [0..150), every: 10.0 | kph |
ego_time_head_way_to_lead_vehicle_at_end |
Ego time headway to lead_vehicle at end | [1..5), every: 0.5 | s |
lead_vehicle_lat_offset_at_end |
Lateral offset of the lead_vehicle at the end of the scenario | [-1..1), every: 0.5 | m |
ego_speed_at_lead_end |
Speed of the Ego at lead_end | [0..150), every: 10.0 | kph |
legal_speed |
Legal speed of the road | [0..150), every: 10.0 | kph |
ego_distance_to_lead_vehicle_at_lead_vehicle_accelerate |
Distance between the Ego and the lead_vehicle at lead_vehicle_accelerate | [5..200), every: 5.0 | m |
ego_rel_dist_to_lead_vehicle_at_lead_vehicle_accelerate |
Relative distance between the lead_vehicle and the Ego | [0..0.5), [0.5..1), [1..1.5), [1.5..2), [2..2.5), [2.5..3), [3..3.5), [3.5..4), [4..4.5), [4.5..5), [5..10), [10..20), [20..30), [30..40), [40..50), [50..60), [60..70), [70..80), [80..90), [90..100) | m |
[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 |
[Click] The scenario sut.lead_vehicle is included in the scenario sut.lead_vehicle_and_slow, with the following coverage items:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
lead_vehicle_speed_at_phase_essence_start |
Speed of the lead_vehicle at the start of the phase_essence | [0..150), every: 10.0 | kph |
lead_vehicle_lat_offset_at_phase_essence_start |
Actual lateral offset of the lead_vehicle from the center of the lane at the start of the phase_essence | [-1..1), every: 0.5 | m |
lead_vehicle_speed_at_end |
Speed of the lead_vehicle at the end of the scenario | [0..150), every: 10.0 | kph |
did_slow_down |
Did the Ego slow down | true, false | bool |
did_change_lane |
Did the Ego change lanes | true, false | bool |
lead_vehicle_lat_offset_at_end_actual |
Lateral offset of the lead_vehicle from the center of the lane at the end of the scenario | [-1..1), every: 0.5 | m |
ego_rel_speed_to_lead_vehicle_at_adaptive_cruise_phase_start |
Relative speed between the lead_vehicle and the Ego at the start of the adaptive_cruise phase | [-70..35), every: 10.0 | kph |
ego_rel_speed_to_lead_vehicle_at_adaptive_cruise_phase_end |
Relative speed between the lead_vehicle and the Ego at the end of the adaptive_cruise phase | [-70..35), every: 10.0 | kph |
time_headway_to_lead_vehicle_at_adaptive_cruise_phase_start |
Time headway of the lead_vehicle to the Ego at the start of the adaptive_cruise phase | [1..5), every: 0.5 | s |
duration_at_essence_approaching |
Duration of the phase_essence_approaching | [3..10), every: 2.0 | s |
duration_at_essence_adaptive_cruise |
Duration of the phase_essence_adaptive_cruise | [3..5), every: 1.0 | s |
230.7.1.2 Cross coverage items
The test execution data for the combination of multiple coverage items is as follows:
| Item | Description | Referred coverage items |
|---|---|---|
cross_ego_distance_to_lead_vehicle_at_slow_end_ego_speed_at_slow_end |
cross cover for Ego relative distance to lead vehicle at slow end and speed of Ego at slow end | ego_distance_to_lead_vehicle_at_slow_end, ego_speed_at_slow_end |
cross_ego_rel_distance_to_lead_vehicle_at_slow_start_ego_speed_at_slow_start |
cross cover for Ego relative distance to lead vehicle at slow start and speed of Ego at slow start | ego_rel_distance_to_lead_vehicle_at_slow_start, ego_speed_at_slow_start |
[Click] The cross coverage items inherited from the sut.lead_vehicle_family_base scenario are as follows:
| Item | Description | Referred coverage items |
|---|---|---|
cross_ego_speed_at_start_and_gen_lead_vehicle_rel_speed_to_ego_at_start |
The cross coverage for gen_ego_speed_at_start and gen_lead_vehicle_rel_speed_to_ego_at_start | gen_ego_speed_at_start, gen_lead_vehicle_rel_speed_to_ego_at_start |
cross_ego_speed_at_start_lead_vehicle_rel_speed_to_ego_at_start |
The cross coverage for ego_speed_at_essence_start and actual_lead_vehicle_rel_speed_to_ego_at_start at the start of the scenario | ego_speed_at_essence_start, lead_vehicle_rel_speed_to_ego_at_start |
[Click] The cross coverage items inherited from the sut.generic_base scenario are as follows:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
[Click] The scenario sut.lead_vehicle is included in the scenario sut.lead_vehicle_and_slow, with the following cross coverage items:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
230.7.2 KPI
The key performance indicators are given below.
230.7.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_min_distance_to_lead_vehicle_at_slow |
Minimum distance between lead vehicle and Ego after slow recorded | [1..10), every: 1.0 | m |
delay_lead_vehicle_decel_and_ego_decel |
Delay between lead vehicle deceleration and Ego deceleration | s |
[Click] The KPIs inherited from the sut.lead_vehicle_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 |
|---|---|---|---|
| -- | -- | -- | -- |
[Click] The scenario sut.lead_vehicle is included in the scenario sut.lead_vehicle_and_slow, with the following KPIs:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
min_thy_record |
Time headway of the Ego relative to the lead_vehicle | s | |
min_rel_speed_record |
Minimum relative speed | kph | |
lead_vehicle_lat_overlap |
The lead_vehicle lateral overlap | [0..100), every: 25.0 | float |
ego_speed_at_adaptive_cruise_phase_start |
Speed of the Ego at the start of the adaptive_cruise phase | kph | |
lon_lane_distance_to_lead_vehicle_at_adaptive_cruise_phase_start |
Longitudinal lane distance to the lead_vehicle at the start of the adaptive_cruise phase | [0..0.1), [0.1..0.2), [0.2..0.3), [0.3..0.4), [0.4..0.5), [0.5..0.7), [0.7..0.9), [0.9..1.1), [1.1..1.3), [1.3..1.5), [1.5..2), [2..2.5), [2.5..3), [3..3.5), [3.5..4), [4..4.5), [4.5..5), [5..5.5), [5.5..6) | m |
lon_lane_speed_to_lead_vehicle_at_adaptive_cruise_phase_start |
Longitudinal lane speed to the lead_vehicle at the start of the adaptive_cruise phase | [-36..36), every: 2.0 | kph |
lon_lane_distance_to_lead_vehicle_at_adaptive_cruise_phase_end |
Longitudinal lane distance to the lead_vehicle at the end of the adaptive_cruise phase | [0..0.1), [0.1..0.2), [0.2..0.3), [0.3..0.4), [0.4..0.5), [0.5..0.7), [0.7..0.9), [0.9..1.1), [1.1..1.3), [1.3..1.5), [1.5..2), [2..2.5), [2.5..3), [3..3.5), [3.5..4), [4..4.5), [4.5..5), [5..5.5), [5.5..6) | m |
lon_lane_speed_to_lead_vehicle_at_adaptive_cruise_phase_end |
Longitudinal lane speed to the lead_vehicle at the end of the adaptive_cruise phase | [-36..36), every: 2.0 | kph |
lon_time_distance_to_lead_vehicle_at_adaptive_cruise_phase_end |
Longitudinal time distance to the lead_vehicle at the end of the adaptive_cruise phase | [0.5..1), [1..1.5), [1.5..2) | s |
lon_time_distance_to_lead_vehicle_at_adaptive_cruise_phase_start |
Longitudinal time distance to the lead_vehicle at the start of the adaptive_cruise phase | [0.5..1), [1..1.5), [1.5..2) | s |
230.7.3 Checks
| Default severity | Description | Issue kind | Threshold |
|---|---|---|---|