299. Vehicle exits road
Scenario location: $FTX_PACKAGES/base_scenarios/scenarios/vehicle_exit/vehicle_exits_road/
In the Cut out to highway exit scenario, the Ego drives behind cut_out_vehicle on a highway. cut_out_vehicle exits the highway, while the Ego continues on the highway without exiting.
299.1 Prerequisites
Environmental requirements: A highway junction with an exit/off ramp.
299.2 Scenario essence
299.2.1 phase_essence
Ego: Approaches a highway junction and continues to drive straight through it.
cut_out_vehicle: This vehicle traverses a separate highway junction. It enters from the same road as the Ego but exits onto a different .
299.3 Scenario Main phases
The vehicle_exits_road_main scenario is structured into three distinct phases.
299.3.1 phase_ego_warm_up
The phase_ego_warm_up invokes the vehicle_exit_family_base_ego_warm_up scenario.
299.3.2 phase_essence
The phase_scenario invokes the phase_essence
299.3.3 phase_post
The phase_post invokes the vehicle_exit_family_base_post scenario.
299.4 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/vehicle_exits_road.csv
$FTX_PACKAGES/base_scenarios/test_suites/test_suite_definitions/vehicle_exit/vehicle_exits_road_main.csv
The parameters you can constrain to create tests with the vehicle_exits_road.csv file are as follows:
| Parameter | Description | Range |
|---|---|---|
gen_cut_out_vehicle_speed_at_approach |
Approach speed of the cut_out_vehicle when entering the junction | [0..150]kph |
gen_cut_out_vehicle_time_to_approach |
Time until the cut_out_vehicle enters the junction | [5..15]s |
gen_ego_speed_at_start |
Input speed of the Ego at the start of the scenario | [0..150]kph |
299.5 Events
| Description | Name |
|---|---|
299.6 Metrics
Metrics collected during test execution are given below.
299.6.1 Coverage
The coverage metrics are given below.
299.6.1.1 Coverage items
The multi-dimensional situations captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
cut_out_vehicle_speed_at_exit_start |
Speed of the cut_out_vehicle at the start of the exit | [0..1), [1..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..40), [40..45), [45..50), [50..60), [60..70), [70..80), [80..90), [90..100), [100..110), [110..120), [120..140), [140..150) | kph |
cut_out_vehicle_acceleration_before_cut_out |
Acceleration of the cut_out_vehicle before the cut-out starts | [-9..-2), [-2..2), [2..9) | mpsps |
ego_slow_down |
Did the Ego slow down | true, false | bool |
ego_change_lane |
Did the Ego change lanes | true, false | bool |
gen_cut_out_vehicle_speed_at_approach |
Approach speed of the cut_out_vehicle when entering the junction | [0..150), every: 10.0 | kph |
gen_cut_out_vehicle_time_to_approach |
Time until the cut_out_vehicle enters the junction | [5..15), every: 2.0 | s |
cut_out_vehicle_speed_at_approach |
Actual approach speed of the cut_out_vehicle as it enters the junction | [0..150), every: 10.0 | kph |
cut_out_vehicle_time_to_approach |
Time until the cut_out_vehicle enters the junction | [5..15), every: 2.0 | s |
[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 |
299.6.1.2 Cross coverage items
The test execution data for the combination of multiple coverage items is as follows:
| Item | Description | Referred coverage items |
|---|---|---|
cut_out_vehicle_speed_vs_cut_out_vehicle_acceleration |
Speed of cut_out_vehicle and acceleration of cut_out_vehicle | cut_out_vehicle_speed_at_exit_start, cut_out_vehicle_acceleration_before_cut_out |
[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 |
|---|---|---|
| -- | -- | -- |
299.6.2 KPI
The key performance indicators are given below.
299.6.2.1 Record items
The performance metrics and the data items captured during the test execution are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
min_ego_ttc |
Minimim time to collision of the Ego and any actor in the event of a collision | [0..6), every: 0.5 | s |
ego_min_acceleration |
Min acceleration of the Ego | [-20..0), every: 1.0 | mpsps |
[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 |
|---|---|---|---|
| -- | -- | -- | -- |
299.6.3 Checks
| Default severity | Description | Issue kind | Threshold |
|---|---|---|---|