238. Lead vehicle changing speed
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/lead_vehicle/lead_vehicle_changing_speed/
In the lead_vehicle_changing_speed scenario, the lead vehicle changes its speed twice according to the input speed values. If the input values are [0..0] kph, then it will even stop during that phase. The Ego behind the lead vehicle should safely adjust to these changes.
238.1 Actors
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
lead_vehicle |
The vehicle driving ahead of the Ego in the same lane as the Ego | vehicle |
 |
238.2 Prerequisites
Environmental requirements: A road with at least two lanes.
238.3 Scenario essence
238.3.1 phase_essence
238.3.1.1 phase_essence_drive_1
Ego: The Ego continues to drive in the same lane.
Lead vehicle: The lead_vehicle continues to drive in the same lane.
238.3.1.2 phase_essence_change_speed_1
Ego: The Ego responds to the behavior of the lead_vehicle.
Lead vehicle: The lead_vehicle changes its speed by the accelerating.
238.3.1.3 phase_essence_drive_2
Ego: The Ego continues to drive in the same lane.
Lead vehicle: The lead_vehicle continues to drive in the same lane.
238.3.1.4 phase_essence_change_speed_2
Ego: The Ego responds to the behavior of the lead_vehicle.
Lead vehicle: The lead_vehicle changes its speed again by the accelerating.
238.3.1.5 phase_essence_drive_3
Ego: The Ego continues to drive in a same lane.
Lead vehicle: The lead_vehicle continues to drive in the same lane.
238.4 Scenario Main phases
The lead_vehicle_changing_speed_main scenario is structured into three distinct phases.
238.4.1 phase_ego_warm_up
The phase_ego_warm_up invokes the lead_vehicle_family_base_ego_warm_up scenario.
238.4.2 phase_essence
The phase_essence invokes the phase_essence.
238.4.3 phase_post
The phase_post invokes the lead_vehicle_family_base_post scenario.
238.5 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_changing_speed.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/lead_vehicle/lead_vehicle_changing_speed_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_changing_speed.csv file are as follows:
| Parameter | Description | Range |
|---|---|---|
gen_lead_vehicle_acceleration_at_change_speed_1 |
Generated value of lead_vehicle acceleration 1 | [-9..5]mpsps |
gen_lead_vehicle_acceleration_at_change_speed_2 |
Generated value of lead_vehicle acceleration 2 | [-9..5]mpsps |
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_changing_speed, 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 |
238.6 Events
| Description | Name |
|---|---|
238.7 Metrics
Metrics collected during test execution are given below.
238.7.1 Coverage
The coverage metrics are given below.
238.7.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
lead_vehicle_speed_at_drive_1_end |
Speed of the lead_vehicle at the end of phase_essence_drive_1 | [0..150), every: 10.0 | kph |
ego_speed_at_drive_1_end |
Speed of the Ego at the end of phase_essence_drive_1 | [0..150), every: 10.0 | kph |
duration_at_essence_drive_1 |
Duration of phase_essence_drive_1 | [5..9), every: 1.0 | s |
lead_vehicle_speed_at_drive_2_end |
Speed of the lead_vehicle at the end of phase_essence_drive_2 | [0..150), every: 10.0 | kph |
ego_speed_at_drive_2_end |
Speed of the Ego at the end of phase_essence_drive_2 | [0..150), every: 10.0 | kph |
duration_at_essence_drive_2 |
Duration of phase_essence_drive_2 | [5..9), every: 1.0 | s |
lead_vehicle_speed_at_drive_3_end |
Speed of the lead_vehicle at the end of phase_essence_drive_3 | [0..150), every: 10.0 | kph |
ego_speed_at_drive_3_end |
Speed of the Ego at the end of phase_essence_drive_3 | [0..150), every: 10.0 | kph |
duration_at_essence_drive_3 |
Duration of phase_essence_drive_3 | [1..10), every: 1.0 | s |
ego_speed_at_change_speed_1_start_rel_to_change_speed_1_end |
Relative speed difference of the Ego between the start and the end of phase_essence_change_speed_1 | [-70..35), every: 10.0 | kph |
lead_vehicle_speed_at_change_speed_1_start_rel_to_change_speed_1_end |
Relative speed difference of the lead_vehicle between the start and the end of phase_essence_change_speed_1 | [-70..35), every: 10.0 | kph |
duration_at_essence_change_speed_1 |
Duration of phase_essence_change_speed_1 | [1..10), every: 1.0 | s |
lead_vehicle_acceleration_at_change_speed_1 |
Acceleration of the lead_vehicle at the start of phase_essence_change_speed_1 | [-9..5), every: 2.0 | mpsps |
ego_speed_at_change_speed_2_start_rel_to_change_speed_2_end |
Relative speed difference of the Ego between the start and the end of phase_essence_change_speed_2 | [-70..35), every: 10.0 | kph |
lead_vehicle_speed_at_change_speed_2_start_rel_to_change_speed_2_end |
Relative speed difference of the lead_vehicle between the start and the end of phase_essence_change_speed_2 | [-70..35), every: 10.0 | kph |
duration_at_essence_change_speed_2 |
Duration of phase_essence_change_speed_2 | [1..6), every: 1.0 | s |
lead_vehicle_acceleration_at_change_speed_2 |
The lead_vehicle acceleration at the start of phase_essence_change_speed_2 | [-9..5), every: 2.0 | mpsps |
lead_vehicle_stopped |
Did the lead_vehicle stop | true, false | bool |
gen_lead_vehicle_acceleration_at_change_speed_1 |
Generated value of lead_vehicle acceleration 1 | [-9..5), every: 2.0 | mpsps |
gen_lead_vehicle_acceleration_at_change_speed_2 |
Generated value of lead_vehicle acceleration 2 | [-9..5), every: 2.0 | 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_changing_speed, 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 |
238.7.1.2 Cross coverage items
The test execution data for the combination of multiple coverage items is as follows:
| Item | Description | Referred coverage items |
|---|---|---|
cross_gen_lead_vehicle_rel_speed_to_ego_at_start_and_gen_acceleration_range_during_change_speed_1 |
The cross coverage for gen_lead_vehicle_rel_speed_to_ego_at_start and gen_lead_vehicle_acceleration_at_change_speed_1 | gen_lead_vehicle_rel_speed_to_ego_at_start, gen_lead_vehicle_acceleration_at_change_speed_1 |
cross_gen_acceleration_range_during_change_speed_1_and_gen_acceleration_range_during_change_speed_2 |
The cross coverage for gen_lead_vehicle_acceleration_at_change_speed_1 and gen_lead_vehicle_acceleration_at_change_speed_2 | gen_lead_vehicle_acceleration_at_change_speed_1, gen_lead_vehicle_acceleration_at_change_speed_2 |
[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_changing_speed, with the following cross coverage items:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
238.7.2 KPI
The key performance indicators are given below.
238.7.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_speed_at_drive_1_start_rel_to_drive_1_end |
Relative speed difference of the Ego between the start and end of phase_essence_drive_1 | [-70..35), every: 10.0 | kph |
lead_vehicle_speed_at_drive_1_start_rel_to_drive_1_end |
Relative speed difference of the lead_vehicle between the start and end of phase_essence_drive_1 | [-70..35), every: 10.0 | kph |
drive_1_duration |
Duration of phase_essence_drive_1 | [5..10) | s |
ego_time_gap_to_lead_vehicle_at_end_drive_1 |
Actual relative time distance between the lead_vehicle and the Ego at the end of phase_essence_drive_1 | [2..3), [3..4), [4..5), [5..6), [6..7), [7..8), [8..9), [9..10), [100..9223372036854775807) | s |
ego_speed_at_drive_2_start_rel_to_drive_2_end |
Relative speed difference of the Ego between the start and end of phase_essence_drive_2 | [-70..35), every: 10.0 | kph |
lead_vehicle_speed_at_drive_2_start_rel_to_drive_2_end |
Relative speed difference of the lead_vehicle between the start and end of phase_essence_drive_2 | [-70..35), every: 10.0 | kph |
drive_2_duration |
Duration of phase_essence_drive_2 | [5..10) | s |
ego_time_gap_to_lead_vehicle_at_end_drive_2 |
Actual relative time distance between the lead_vehicle and the Ego at the end of phase_essence_drive_2 | [2..3), [3..4), [4..5), [5..6), [6..7), [7..8), [8..9), [9..10), [100..9223372036854775807) | s |
drive_3_duration |
Duration of phase_essence_drive_3 | [5..10) | s |
ego_max_acceleration_at_change_speed_1 |
Maximum acceleration of the Ego | mpsps | |
ego_min_acceleration_at_change_speed_1 |
Minimum acceleration of the Ego | mpsps | |
ego_avg_acceleration_at_change_speed_1 |
Average acceleration of the Ego | mpsps | |
change_speed_1_phase_duration |
Duration of phase_essence_change_speed_1 | [2..13) | s |
ego_time_gap_to_lead_vehicle_at_end_change_speed_1 |
Actual relative time distance between the lead_vehicle and the Ego at the end of phase_essence_change_speed_1 | [2..3), [3..4), [4..5), [5..6), [6..7), [7..8), [8..9), [9..10), [100..9223372036854775807) | s |
ego_max_acceleration_at_change_speed_2 |
Maximum acceleration of the Ego | mpsps | |
ego_min_acceleration_at_change_speed_2 |
Minimum acceleration of the Ego | mpsps | |
ego_avg_acceleration_at_change_speed_2 |
Average acceleration of the Ego | mpsps | |
change_speed_2_phase_duration |
Duration of phase_essence_change_speed_2 | [2..13) | s |
ego_time_gap_to_lead_vehicle_at_end_change_speed_2 |
Actual relative time distance between the lead_vehicle and the Ego at the end of phase_essence_change_speed_2 | [2..3), [3..4), [4..5), [5..6), [6..7), [7..8), [8..9), [9..10), [100..9223372036854775807) | s |
ego_max_dist_to_lead_vehicle_collect |
Maximal distance of the Ego to the lead_vehicle | m | |
ego_max_thw_to_lead_vehicle_collect |
Maximum time headway of the Ego relative to the lead_vehicle | [0..60), every: 5.0 | s |
ego_min_thw_to_lead_vehicle_collect |
Minimum time headway of the Ego relative to the lead_vehicle | [0..60), every: 5.0 | s |
ego_max_deceleration |
Ego maximum deceleration | mpsps | |
lead_vehicle_max_deceleration |
Maximum lead_vehicle deceleration | mpsps | |
ego_time_gap_to_lead_vehicle_at_start_drive_1 |
Actual relative time distance between the lead_vehicle and the Ego at the start of phase_essence_drive_1 | [2..3), [3..4), [4..5), [5..6), [6..7), [7..8), [8..9), [9..10), [100..9223372036854775807) | 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_changing_speed, 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 |
238.7.2.2 Checks
This scenario collects the checks from the lead_vehicle_family_base scenario.