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304. Stationary objects introduction

The Stationary objects library components are located in $FTX_PACKAGES/base_scenarios/scenarios/stationary_objects as shown in Figure 1.

Figure 1: Stationary objects directory structure
Directory/File Description
test_suites A directory containing a test_suite_definitions and a templates folder. The test_suite_definitions folder contains CSV files for executing stationary objects tests with FRun. The templates folder is used to generate tests to be executed with FRun.
scenarios A directory containing the OSC2 source files for each scenario.

304.1 Running a regression

To run a set of tests with FRun:

  1. Invoke FRun in batch mode with all the CSV files required for the set of tests that you chose.

    For example: 

    frun --csv $FTX_PACKAGES/common/csv/sim_manually_driven_kinematic_config.csv
 --csv $FTX_PACKAGES/common/csv/map_config.csv
 --batch
    2. Review the regression results in the default work directory.

    ~/foretify/sessions/<timestamp>/<timestamp>/

304.1.1 Stationary object parameters

The following parameters are included, depending on the type of stationary object:

Parameter Description Range
number_of_objects For groups of objects, the number of objects [2..5]
object_kind The kind of object stationary_vehicle, traffic_cone, puddle or person
vehicle_category The category of the stationary vehicle sedan, truck, bus, van, four_wheel_drive, motorcycle
person_age The age group of the person child, adult
person_gender The gender of the person male, female
time_of_day The time of day the scenario happens undefined_time_of_day, sunrise, morning, noon, afternoon, sunset, evening, night, midnight
specific_time A specific time of day [0..24]hour+[0..59]minute
drive_path_fraction The point where the first object in the group is placed and expressed as a percentage of the total distance the car travels during the drive [0..100]
ego_to_object_lat_offset The distance of the object from the center line [-2..2]m
min_lat_shift Minimum lateral shift of each object [-2..2]m
max_lat_shift Maximum lateral shift of each object [-2..2]m
min_distance_between_vehicles The minimum distance between objects in a group
max_distance_between_vehicles The minimum distance between objects in a group
drive_to_sync The instance of the scenario used as a reference for the positioning of stationary object
object_roll Rotation along x-axis [0..360]degree
min_yaw Minimum rotation along z-axis [0..360]degree
max_yaw Maximum rotation along z-axis [0..360]degree
object_yaw Rotation along z-axis [0..360]degree
object_pitch Rotation along y-axis [0..360]degree