257. Narrow oncoming
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/oncoming_vehicles/narrow_oncoming/
In the narrow_oncoming scenario, a vehicle approaches the Ego from the opposite direction, partially entering the Ego's lane, which narrows the available lane width for the Ego, and then passes by.
257.1 Actors
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
traffic_vehicle |
Oncoming vehicle | vehicle |
 |
257.2 Prerequisites
Environmental requirements: A bi-directional road with an outgoing lane and an oncoming lane.
257.3 Scenario essence
257.4 phase_essence
The phase_essence invokes the oncoming scenario.
257.5 Scenario Main phases
The narrow_oncoming_main scenario is structured into three distinct phases.
257.5.1 phase_ego_warm_up
The phase_ego_warm_up invokes the oncoming_vehicle_base_ego_warm_up scenario.
257.5.2 phase_essence
The phase_scenario invokes the phase_essence
257.5.3 phase_post
The phase_post invokes the oncoming_vehicle_base_post scenario.
257.6 Parameters
The path to the main CSV file is as follows:
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/oncoming_vehicles/narrow_oncoming_main.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/oncoming_vehicles/oncoming.csv
This scenario uses the parameters from the oncoming scenario.
| Parameter | Description | Range |
|---|---|---|
gen_oncoming_vehicle_speed_at_start |
Input speed of the oncoming_vehicle at essence start | [0..150]kph |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
The scenario sut.oncoming is included in the scenario sut.narrow_oncoming, with the option to constrain the following input parameters:
| Parameter | Description | Range |
|---|---|---|
gen_oncoming_vehicle_lateral_distance |
Lateral center-to-center distance between the Ego and the oncoming_vehicle | [1..2]m |
gen_oncoming_vehicle_speed_at_essence |
The speed of the oncoming_vehicle during the essence phase |
[0..150]kph |
gen_ego_speed_at_essence |
Generated speed of the Ego at the opposing phase | [0..150]kph |
gen_oncoming_vehicle_speed_at_start |
Input speed of the oncoming_vehicle at essence start | [0..150]kph |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
257.7 Metrics
Metrics collected during test execution are given below.
257.7.1 Coverage
The coverage metrics are given below.
257.7.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_available_lat_distance_in_lane_at_start |
Lateral distance available in the Ego's lane at the start of the scenario | [2..4), every: 0.1 | m |
ego_available_lat_distance_in_lane_at_second_apart_passing_by |
Ego's available lateral distance in the lane, one second after the oncoming vehicle has passed it | [1..4), every: 0.1 | m |
ego_available_lat_distance_in_lane_at_passing_by |
Ego's available lateral distance in the lane at the moment the oncoming vehicle passes by | [1..4), every: 0.1 | m |
ego_min_lat_distance_available_in_lane |
Minimum lateral distance available for Ego in the lane throughout the scenario (inmeters). | [1..4), every: 0.1 | m |
[Click] The coverage items inherited from the sut.oncoming_vehicle_family_base scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
lateral_distance_to_oncoming_vehicle_at_second_apart |
Lateral center-to-center distance between the Ego and the oncoming_vehicle, one second after passing | [2..5), every: 1.0 | m |
ego_speed_at_second_apart |
Speed of the Ego one second after passing the oncoming_vehicle | [0..150), every: 10.0 | kph |
oncoming_vehicle_speed_at_second_apart |
Speed of the oncoming_vehicle one second after passing the Ego | [0..150), every: 10.0 | kph |
ego_acceleration_at_second_apart |
Acceleration of the Ego one second after passing the oncoming_vehicle | [-4..4) | mpsps |
lateral_distance_to_oncoming_vehicle_at_passing_by |
Lateral center-to-center distance between the Ego and the oncoming_vehicle | [0..2), every: 0.2 | m |
ego_speed_at_passing_by |
Speed of the Ego as the oncoming_vehicle passes | [0..150), every: 10.0 | kph |
oncoming_vehicle_speed_at_passing_by |
Speed of the oncoming_vehicle as it passes the Ego | [0..150), every: 10.0 | kph |
ego_acceleration_at_passing_by |
Acceleration of the Ego while passing | [-4..4), every: 1.0 | mpsps |
curve_at_passing_by |
Curve during the passing by maneuver | other, straightish, soft_left, hard_left, soft_right, hard_right | curvature |
gen_oncoming_vehicle_speed_at_start |
Input speed of the oncoming_vehicle at essence start | [0..150), every: 10.0 | kph |
oncoming_vehicle_speed_at_start |
Speed of the oncoming_vehicle at essence start | [0..150), every: 10.0 | kph |
[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.oncoming is included in the scenario sut.narrow_oncoming, with the following coverage items:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
gen_oncoming_vehicle_lateral_distance |
Lateral center-to-center distance between the Ego and the oncoming_vehicle | [1..2), every: 0.2 | m |
has_stationary_object |
Whether there is a stationary object on the road | true, false | bool |
gen_oncoming_vehicle_speed_at_essence |
The speed of the oncoming_vehicle during the essence phase |
[0..150), every: 10.0 | kph |
gen_ego_speed_at_essence |
Generated speed of the Ego at the opposing phase | [0..150), every: 10.0 | kph |
oncoming_vehicle_speed_at_essence_phase |
Speed of the oncoming_vehicle at the essecne phase | [0..150), every: 10.0 | kph |
ego_speed_at_essence_phase |
Speed of the Ego at the essence phase | [0..150), every: 10.0 | kph |
257.7.1.2 Cross coverage items
The test execution data for the combination of multiple coverage items is as follows:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
[Click] The cross coverage items inherited from the sut.oncoming_vehicle_family_base scenario are 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 |
|---|---|---|
| -- | -- | -- |
[Click] The scenario sut.oncoming is included in the scenario sut.narrow_oncoming, with the following cross coverage items:
| Item | Description | Referred coverage items |
|---|---|---|
| -- | -- | -- |
257.7.2 KPI
The key performance indicators are given below.
257.7.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
[Click] The KPIs inherited from the sut.oncoming_vehicle_family_base scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
oncoming_vehicle_max_long_acceleration |
Maximum longitudinal acceleration of the oncoming_vehicle | [0..20), every: 2.0 | mpsps |
oncoming_vehicle_min_long_acceleration |
Minimum longitudinal acceleration of the oncoming_vehicle | [0..20), every: 2.0 | mpsps |
max_lat_lane_distance |
Maximum lateral distance between the Ego and the oncoming_vehicle | [0..20), every: 2.0 | m |
[Click] The KPIs inherited from the sut.generic_base scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
[Click] The scenario sut.oncoming is included in the scenario sut.narrow_oncoming, with the following KPIs:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
257.7.2.2 Record items
The performance metrics and the data items captured during the test execution are as follows:
This scenario collects the KPI from the oncoming scenario.