260. Oncoming with lateral swirl
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/oncoming_vehicles/oncoming_with_lateral_swirl/
In the oncoming_with_lateral_swirl scenario, the oncoming_vehicle approaches the Ego and laterally swirls continuously while passing by.
260.1 Actors
The actors associated with this scenario are as follows:
| Name | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
oncoming_vehicle |
Vehicle traveling toward the Ego in the opposite lane | vehicle |
 |
260.2 Prerequisites
Environmental requirements: A two-lane bidirectional road, with one lane designated for outgoing traffic (vehicles travelling in the same direction as the Ego), and the other for oncoming traffic (vehicles traveling toward the Ego, i.e., in the opposite direction).
260.3 Scenario essence
260.4 phase_essence
Ego: Drives in the innermost lane, maintaining its speed and lane.
oncoming_vehicle: Approaches the Ego from the opposite direction. It follows a predefined motion profile that causes it to perform a "lateral swirl" or swerving maneuver. Its road departure checks are disabled to allow this erratic movement, which may include crossing the center line.
260.5 Scenario Main phases
The oncoming_with_lateral_swirl_main scenario is structured into three distinct phases.
260.5.1 phase_ego_warm_up
The phase_ego_warm_up invokes the oncoming_vehicle_base_ego_warm_up scenario.
260.5.2 phase_essence
The phase_scenario invokes the phase_essence
260.5.3 phase_post
The phase_post invokes the oncoming_vehicle_base_post scenario.
260.6 Parameters
The paths to the CSV file and the main CSV file are as follows:
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/oncoming_vehicles/oncoming_with_lateral_swirl.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/oncoming_vehicles/oncoming_with_lateral_swirl_main.csv
The parameters you can constrain to create tests with the oncoming_with_lateral_swirl.csv file are as follows:
| Parameter | Description | Range |
|---|---|---|
gen_distance_to_oncoming_vehicle_at_lateral_swirling_start |
Input distance of the oncoming_vehicle from the Ego at the start of phase_essence | [10..150]m |
gen_oncoming_vehicle_speed_at_lateral_swirling_start |
Input speed of the oncoming_vehicle during the lateral_swirling_phase | [0..150]kph |
gen_oncoming_vehicle_swirling_amplitude |
Swirling amplitude of the oncoming_vehicle at the start of the scenario | [0..3]m |
gen_oncoming_vehicle_lat_swirling_period_at_start |
Period of sinusoidal swirling motion at the start of the shape | [1..6]s |
gen_oncoming_vehicle_lat_swirling_period_at_end |
Period of sinusoidal swirling motion at the end of the shape | [1..6]s |
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 |
260.7 Metrics
Metrics collected during test execution are given below.
260.7.1 Coverage
The coverage metrics are given below.
260.7.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_evasive_change_lane |
Did the Ego change lanes | true, false | bool |
lane_count_at_end |
Number of lanes at the end of the scenario | [1..6), every: 1.0 | uint |
curve_radius_at_end |
Curve radius at the end of the scenario | other, straightish, soft_left, hard_left, soft_right, hard_right | curvature |
oncoming_vehicle_swirling_duration |
Duration of the oncoming_vehicle's swirling maneuver | [3..4), every: 1.0 | s |
oncoming_vehicle_swirling_amplitude |
Swirling amplitude of the oncoming_vehicle during the lateral_swirling phase | [0..3), every: 0.5 | m |
gen_distance_to_oncoming_vehicle_at_lateral_swirling_start |
Input distance of the oncoming_vehicle from the Ego at the start of phase_essence | [10..150), every: 20.0 | m |
gen_oncoming_vehicle_speed_at_lateral_swirling_start |
Input speed of the oncoming_vehicle during the lateral_swirling_phase | [0..150), every: 10.0 | kph |
gen_oncoming_vehicle_swirling_amplitude |
Swirling amplitude of the oncoming_vehicle at the start of the scenario | [0..3), every: 0.5 | m |
lane_count_at_start |
Number of lanes at the start of the scenario | [1..6), every: 1.0 | uint |
curve_radius_at_start |
Curve radius at the start of the scenario | other, straightish, soft_left, hard_left, soft_right, hard_right | curvature |
gen_oncoming_vehicle_lat_swirling_period_at_start |
Period of sinusoidal swirling motion at the start of the shape | [1..6), every: 1.0 | s |
gen_oncoming_vehicle_lat_swirling_period_at_end |
Period of sinusoidal swirling motion at the end of the shape | [1..6), every: 1.0 | s |
distance_to_oncoming_vehicle_at_lateral_swirling_start |
Distance of the Ego to the oncoming_vehicle at the start of phase_essence | [10..150), every: 10.0 | m |
oncoming_vehicle_speed_at_lateral_swirling_start |
Speed of the oncoming_vehicle at the start of the swirling motion | [0..150), every: 10.0 | kph |
oncoming_vehicle_lat_swirling_period_at_start |
Start swirling period | [0..5), every: 0.1 | s |
oncoming_vehicle_lat_swirling_period_at_end |
End swirling period | [0..2), every: 0.2 | s |
[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 |
260.7.1.2 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 |
|---|---|---|
| -- | -- | -- |
260.7.2 KPI
The key performance indicators are given below.
260.7.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
min_thw |
Minimum time headway of the Ego | [1..5), every: 0.5 | s |
min_lon_lane_distance |
Minimal longitudinal distance between ego and oncoming_vehicle actor | [0..100), every: 10.0 | m |
min_lat_lane_distance |
Minimal lateral distance between ego and oncoming_vehicle actor | [0..20), every: 2.0 | m |
min_euclidean_distance |
Minimal euclidean distance between ego and oncoming_vehicle actor | [0..200), every: 20.0 | m |
min_distance_to_oncoming_vehicle_while_passing_by_record |
Ego lateral distance to oncoming_vehicle while passing by | [0..6), every: 0.5 | m |
ego_max_lateral_deviation_to_lane_center_record |
Maximum absolute lateral distance from lane center of Ego while passing by | [0..1), every: 0.1 | m |
[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 |
|---|---|---|---|
| -- | -- | -- | -- |