228. Lead vehicle family base
The lead_vehicle_family_base consists of input variables, coverage, and KPIs common across all lead vehicle scenarios. The enum lead_vehicle_scenario_kind contains a list of scenarios inherited from the lead_vehicle_family_base scenario.
Location: $FTX_PACKAGES/base_scenarios/scenarios/lead_vehicle/lead_vehicle_family_base/
228.1 Lead vehicle family ego_warm_up and post scenarios
The lead vehicle scenarios use these ego_warm_up and post scenarios.
228.1.1 lead_vehicle
228.1.1.1 lead_vehicle_family_base_ego_warm_up
Ego: The Ego starts driving and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
lead_vehicle: The lead_vehicle starts driving in a lane ahead of the Ego and attempts to maintain its lane for the duration of gen_duration_at_ego_warm_up.
228.1.1.2 lead_vehicle_family_base_post
Ego: The Ego continues driving, maintaining its lane for the duration of gen_duration_at_post.
lead_vehicle: The lead_vehicle continues driving, maintaining its lane for the duration of gen_duration_at_post.
228.1.2 lead_vehicle_with_vehicle
228.1.2.1 lead_vehicle_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.
lead_vehicle: The lead_vehicle starts driving in a lane ahead of the Ego 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.
228.1.2.2 lead_vehicle_with_vehicle_post
Ego: The Ego continues driving, maintaining its lane for the duration of gen_duration_at_post.
lead_vehicle: The lead_vehicle 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.
228.1.3 lead_vehicle_with_multiple_vehicles
228.1.3.1 lead_vehicle_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.
lead_vehicle: The lead_vehicle starts driving in a lane ahead of the Ego 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.
228.1.3.2 lead_vehicle_with_multiple_vehicles_post
Ego: The Ego continues driving, maintaining its lane for the duration of gen_duration_at_post.
lead_vehicle: The lead_vehicle 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_2 continues driving, maintaining its lane for the duration of gen_duration_at_post.
228.2 Parameters
| Parameter | Description | Range |
|---|---|---|
gen_scenario_kind |
Type of scenario | lead_vehicle_changing_speed, lead_vehicle_with_lateral_swirl, multiple_lead_vehicle, lead_vehicle_changing_speed_with_lateral_swirl, lead_vehicle_with_traffic_on_side, lead_vehicle_multiple_stop_and_go, multiple_lead_vehicle_base |
gen_lead_vehicle_speed_at_start |
Generated speed of the lead_vehicle at the start of the scenario | [0..150]kph |
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_lead_vehicle_lat_offset_at_start |
Generated lateral offset of the lead_vehicle at the start of the scenario | [-1..1]m |
gen_lead_vehicle_lat_offset_at_end |
Generated Lateral offset of the lead_vehicle at the start of the scenario | [-1..1]m |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
228.3 Events
The events common across the lead_vehicle scenario family are as follows:
| Name | Description |
|---|---|
lead_start |
This event is emitted at the start of the scenario |
lead_end |
This event is emitted at the end of the scenario |
ego_emergency_brake |
The Ego brakes harder than the 'ego_emergency_brake_acceleration' |
lead_vehicle_breaks_speed_limit |
The lead_vehicle breaks the speed limit |
lead_vehicle_emergency_brake |
The lead_vehicle brakes harder than the 'lead_vehicle_emergency_brake_acceleration' |
ego_lane_shifts |
The Ego changes lanes |
lead_vehicle_accelerate |
The lead_vehicle accelerates |
228.4 Metrics
Metrics collected during test execution are given below.
228.4.1 Coverage
The coverage metrics are given below.
228.4.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
gen_scenario_kind |
Type of scenario | lead_vehicle_changing_speed, lead_vehicle_with_lateral_swirl, multiple_lead_vehicle, lead_vehicle_changing_speed_with_lateral_swirl, lead_vehicle_with_traffic_on_side, lead_vehicle_multiple_stop_and_go, multiple_lead_vehicle_base | lead_vehicle_scenario_kind |
gen_lead_vehicle_speed_at_start |
Generated speed of the lead_vehicle at the start of the scenario | [0..150), every: 10.0 | kph |
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 |
gen_lead_vehicle_lat_offset_at_start |
Generated lateral offset of the lead_vehicle at the start of the scenario | [-1..1), every: 0.5 | m |
gen_lead_vehicle_lat_offset_at_end |
Generated Lateral offset of the lead_vehicle at the start of the scenario | [-1..1), every: 0.5 | m |
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 |
228.4.1.2 Cross coverage items
The test execution data for the combination of multiple coverage items is as follows:
| Item | Description | Referred coverage items |
|---|---|---|
cross_ego_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 |
|---|---|---|
| -- | -- | -- |
228.4.2 KPI
The key performance indicators are given below.
228.4.2.1 Record items
The performance metrics and the data items captured during the test execution 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 |
|---|---|---|---|
| -- | -- | -- | -- |
228.4.3 Checks
The captured problematic behavior or conditions are as follows:
| Default severity | Description | Issue kind | Threshold |
|---|---|---|---|
error |
A check has been added to ensure that the lead_vehicle is positioned ahead of the Ego at the start of the scenario | check_lead_vehicle_position |
- |
warning |
A check has been added to ensure the Ego stays on lane in the scenario | ego_lane_change |
- |
warning |
A check has been added to ensure that the Ego stays behind lead_vehicle in the scenario | ego_overtook_lead_vehicle |
- |
228.4.4 Checks for lead vehicle traffic common
The captured problematic behavior or conditions are as follows:
warning|A check has been added to ensure that the traffic is positioned within the threshold value of [-2..2]s to the Ego in the scenario|no_traffic_near_ego| - |