298. Interchange
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/vehicle_exit_family/interchange/
In the Interchange scenario, the Ego (DUT) approaches a highway interchange at the same time as two other lead vehicles and their car groups. The Ego continues to move straight ahead regardless of whether one or both of the lead vehicles, together with their car groups, take the exchange or continue to move straight ahead.
298.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Constraints |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
lead_vehicle_1 |
First vehicle driving ahead of the Ego that may or may not take the interchange | vehicle |
 |
lead_vehicle_2 |
Second vehicle driving ahead of the Ego that may or may not take the interchange | vehicle |
|
lead_vehicle_group_1 |
A group of traffic vehicles that follow lead_vehicle_1 |
vehicle_group |
|
lead_vehicle_group_2 |
A group of traffic vehicles that follow lead_vehicle_2 |
vehicle_group |
298.2 Prerequisites
Environmental requirements: A road with at least three lanes and one lane going to the interchange.
298.3 Interchange ego_warm_up and post scenarios
The interchange scenarios use these ego_warm_up and post scenarios.
298.3.1 interchange_ego_warm_up
lead_vehicle_1: Invokes the vehicle_exit_family_base_ego_warm_up scenario for gen_duration_at_ego_warm_up.
lead_vehicle_2: Invokes the vehicle_exit_family_base_ego_warm_up scenario for gen_duration_at_ego_warm_up.
lead_vehicle_group_1: The entire group of traffic vehicles begins driving concurrently.
lead_vehicle_group_2: The other group of traffic vehicles also begins driving concurrently.
298.3.2 interchange_post
lead_vehicle_1: Invokes the vehicle_exit_family_base_post scenario.
lead_vehicle_2: Invokes the vehicle_exit_family_base_post scenario.
lead_vehicle_group_1: Continue to drive.
lead_vehicle_group_2: Continue to drive.
298.4 Scenario essence
298.4.1 phase_essence
Ego: Drives on a multi-lane road approaching an interchange.
lead_vehicle_1 & lead_vehicle_group_1: lead_vehicle_1 and lead_vehicle_group_1 start in the outermost lane ahead of the Ego. They proceed to take one path through the interchange.
lead_vehicle_2 & lead_vehicle_group_2: lead_vehicle_2 and lead_vehicle_group_2 start in the outermost lane ahead of the Ego. They proceed to take one path through the interchange.
298.5 Scenario Main phases
The interchange_main scenario is structured into three distinct phases.
298.5.1 phase_ego_warm_up
The phase_ego_warm_up invokes the interchange_ego_warm_up scenario.
298.5.2 phase_essence
The phase_scenario invokes the phase_essence
298.5.3 phase_post
The phase_post invokes the interchange_post scenario.
298.6 Parameters
The paths to the CSV file and the main CSV file are as follows:
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/vehicle_exit_family/interchange.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/vehicle_exit_family/interchange_main.csv
The parameters you can constrain to create tests with the interchange.csv file are as follows:
| Parameter | Description | Range |
|---|---|---|
gen_lead_vehicle_1_rel_lon_dist_to_ego |
Relative time distance of the lead_vehicle_1 to the Ego at the start of the scenario | [2..10]s |
gen_lead_vehicle_2_rel_lon_dist_to_ego |
Relative time distance of the lead_vehicle_2 to the Ego at the start of the scenario | [2..10]s |
gen_ego_min_travel_distance |
Minimum distance travelled by the Ego | [100..150]m |
gen_straight_road_min_lanes |
Minimum number of lanes | [3..6) |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
298.7 Events
| Description | Name |
|---|---|
298.8 Metrics
Metrics collected during test execution are given below.
298.8.1 Coverage
The coverage metrics are given below.
298.8.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_rel_speed_to_lead_vehicle_1_at_end |
How much faster is the lead_vehicle_1 relative to the Ego at the end of the scenario | [-70..35), every: 10.0 | mps |
ego_rel_speed_to_lead_vehicle_2_at_end |
How much faster is the lead_vehicle_2 relative to the Ego at the end of the scenario | [-70..35), every: 10.0 | mps |
lead_vehicle_1_speed_end |
Speed of the lead_vehicle_1 at the end of the scenario | [0..150), every: 10.0 | kph |
lead_vehicle_2_speed_end |
Speed of the lead_vehicle_2 at the end of the scenario | [0..150), every: 10.0 | kph |
gen_lead_vehicle_1_rel_lon_dist_to_ego |
Relative time distance of the lead_vehicle_1 to the Ego at the start of the scenario | [2..10), every: 0.5 | s |
gen_lead_vehicle_2_rel_lon_dist_to_ego |
Relative time distance of the lead_vehicle_2 to the Ego at the start of the scenario | [2..10), every: 0.5 | s |
gen_ego_min_travel_distance |
Minimum distance travelled by the Ego | [100..150), every: 5.0 | m |
gen_straight_road_min_lanes |
Minimum number of lanes | [3..6), every: 1.0 | int |
lead_vehicle_1_rel_lon_dist_to_ego |
Time gap between the lead_vehicle_1 and the Ego | [2..10), every: 0.5 | s |
lead_vehicle_2_rel_lon_dist_to_ego |
Time gap between the lead_vehicle_2 and the Ego | [2..10), every: 0.5 | s |
straight_road_min_lanes |
Minimum number of lanes | [3..6), every: 1.0 | int |
ego_min_travel_distance |
Minimum distance travelled by the Ego | [100..150), every: 5.0 | m |
[Click] The coverage items inherited from the sut.vehicle_exit_family_base scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
| -- | -- | -- | -- |
[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 |
298.8.1.2 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.vehicle_exit_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 |
|---|---|---|
| -- | -- | -- |
298.8.2 KPI
The key performance indicators are given below.
298.8.2.1 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.vehicle_exit_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 |
|---|---|---|---|
| -- | -- | -- | -- |
298.8.3 Checks
| Default severity | Description | Issue kind | Threshold |
|---|---|---|---|
error |
The Ego should not turn on to the interchange, i.e., the lane number should not be equal to 1 | ego_moved_to_interchange | 1 |