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96. Match scenarios supported modifiers

The following modifiers are supported for match scenarios:

96.1 physical_object.on_road

Checks if an object is on the road within an allowed distance range.

96.1.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
min_threshold float The minimum percentage of the object's bounding box that must be inside the road boundary. 0 means any part of the object is inside the road and 1 means the entire object is inside the road boundary 0 Optional None
check_non_driving_lanes bool When set to false, the modifier will return false when the vehicle is on a non driving lane. true Optional None

96.2 physical_object.object_in_junction

Checks if an object is positioned in a junction within the specified distance.

96.2.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
ref_car vehicle Reference vehicle to check the object's position in the junction No default value Optional None
ref_car_max_distance_from_junction length Maximal distance allowed for the reference car to be considered as being in the junction. This distance is calculated from the center of the vehicle to either the start of the junction or the end of the junction. For example, if the distance is set to 10m, the ref_car will be considered to be in the junction if it is within 10 meters before or after the junction. 0m Optional None
negate bool See details false Optional None

96.3 physical_object.on_lane

Checks if an object is in the same lane as the specified vehicle.

96.3.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
ref_car vehicle Reference vehicle to check the object's position on the lane No default value Mandatory None

96.4 vehicle.lane_boundary

Check the lateral motion towards or away from the lane boundary

96.4.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
side av_side Which boundary the lateral motion should be checked towards, values can be [left, right] No default value Optional None
move av_lateral_move Define whether the motion is towards or away from the lane boundary, values can be [approach, on_markings, depart, stable, not_on_markings] No default value Mandatory None
at av_at_kind See details all Optional None

96.5 vehicle.speed

Check if a vehicle is driving at a certain speed

96.5.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
speed range of speed The speed range in which the vehicle should travel (negative values indicate driving backward). When faster_than or slower_than is specified, the speed parameter defines the required speed gap between the vehicles No default value Mandatory None
faster_than vehicle Check if a vehicle is driving faster than the reference vehicle No default value Optional fasterOrSlower
slower_than vehicle Check if a vehicle is driving slower than the reference vehicle No default value Optional fasterOrSlower
at av_at_kind See details all Optional None

96.6 vehicle.driving_against_lane_direction

Checks if a vehicle is driving against the lane direction

96.6.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
negate bool See details false Optional None

96.7 vehicle.lateral_speed

Check if the vehicle's lateral speed is within a specified range on a particular side (left or right).

96.7.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
side av_side Define the side on which the the lateral speed should be checked: [left, right] No default value Mandatory None
speed range of speed Allowed range of lateral speed, should be positive No default value Mandatory None
at av_at_kind See details all Optional None

96.8 vehicle.acceleration

Check if a vehicle is accelerating within a range.

96.8.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
acceleration range of acceleration Allowed range of acceleration No default value Mandatory None
greater_than vehicle Check if a vehicle's acceleration rate is greater than the reference vehicle's within the specified range No default value Optional greaterOrLess
less_than vehicle Check if the vehicle's acceleration rate is lower than the reference vehicle's within the specified range No default value Optional greaterOrLess
window_size time Calculates the average acceleration for each actor over the defined sliding time window. 0.5sec Optional None

96.9 vehicle.yields

Checks if a vehicle is yielding, meaning it is slowing down or coming to a stop.

96.9.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
yield_acceleration acceleration Maximal acceleration of the vehicle to be considered as yielding, expected to be negative (deceleration) -1mpsps Optional None
standstill_speed speed Maximal speed of the vehicle to be considered as yielding, must be positive 2kph Optional None

96.10 vehicle.position

Check the position of a vehicle relative to another vehicle (one of them must be the Ego; 2 NPCs are not supported)

96.10.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
distance range of length Specify the range for the longitudinal position (distance). No default value MandatorySet timeOrDistance, timeToleranceOrDistance
time range of time Specify the range for the longitudinal position (time based on the following vehicle’s speed). No default value MandatorySet timeOrDistance, timeOrTolerance
ahead_of vehicle Check if a vehicle is ahead of the Ego No default value Optional aheadOrBehind
behind vehicle Check if a vehicle is behind the Ego No default value Optional aheadOrBehind
measure_by av_measure_by Defines whether the distance between vehicles is measured from their center points (center_to_center) or their nearest edges (nearest). center_to_center Optional None
at av_at_kind See details all Optional None

96.11 vehicle.lane

Check multiple constraints related to the vehicle's lane

96.11.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
same_as vehicle Check if a vehicle is in the same lane as the reference vehicle No default value Optional leftRightSameSide
side_of vehicle Check if a vehicle is in a different lane than the reference vehicle No default value Optional leftRightSameSide
side av_side Define the lateral side relative to the reference car used only in conjunction with "side_of" No default value Optional None
leftmost bool When set to true, checks whether the vehicle is in the leftmost lane; otherwise, this condition is ignored No default value Optional LRM
rightmost bool When set to true, checks whether the vehicle is in the rightmost lane; otherwise, this condition is ignored No default value Optional LRM
at av_at_kind See details all Optional None
lane_calculation_tolerance length Specifies tolerance when calculating the actor lane. This distance is calculated based on the nearest points between the actor and the lane No default value Optional None
negate bool See details false Optional None

96.12 sut_vehicle.lane_occupied

Checks if the adjacent lane is occupied; supports only the Ego vehicle.

96.12.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
side av_rel_side Which side to check [left, right, same] No default value Mandatory None
at av_at_kind See details all Optional None
distance_behind length Checks whether the distance, in length units, behind the Ego is occupied. This distance is calculated based on the nearest points between the Ego and the actor No default value Optional None
distance_ahead length Checks whether the distance, in length units, ahead of the Ego is occupied. This distance is calculated based on the nearest points between the Ego and the actor No default value Optional None
time_behind time Checks whether the distance, in time units, behind the Ego is occupied. This distance is calculated based on the nearest points between the Ego and the actor No default value Optional None
time_ahead time Checks whether the distance, in time units, ahead of the Ego is occupied. The distance is calculated based on the nearest points between the Ego and the actor No default value Optional None
negate bool See details false Optional None

96.13 vehicle.oncoming

Modifier that checks if a ref_car is moving towards a vehicle.

96.13.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
ref_car vehicle The vehicle that is approaching the Ego from the opposite direction No default value Mandatory None

96.14 vehicle.veering_to_opposite_lane

Checks if a car is veering to the opposite lane by more than the specified veer_threshold.

96.14.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
veer_threshold float A float number from 0 to 1 representing the portion of the vehicle that veers. A veer_threshold of 0.5 means that at least half of the vehicle's width must be outside the lane to exceed the threshold. 0 Optional None
at av_at_kind See details all Optional None

96.15 vehicle.in_junction

Checks if a car is positioned in a junction with the specified distance, direction, junction entry, and relative to a reference car

96.15.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
turn_direction direction Required turn direction inside the junction (e.g., left, right, straight, backwards) No default value Optional None
ref_car vehicle Reference vehicle that should be positioned in the same junction as the actor No default value Optional None
ref_car_max_distance_from_junction length Maximum distance from the junction for the reference vehicle to be considered inside the junction. The distance is calculated from the center of the reference vehicle 0m Optional None
junction_entry junction_entry Required junction entry relative to the reference car (e.g., same or different direction) No default value Optional None
start_offset range of length The required distance range from the junction entry, in length units, for the actor to be considered inside the junction. This distance is calculated from the center of the actor No default value Optional roadOffset
end_offset range of length The required distance range from the junction exit, in length units, for the actor to be considered inside the junction. This distance is calculated from the center of the actor No default value Optional roadOffset
negate bool See details false Optional None

96.16 vehicle.in_encroachment_area

Checks if the actor is within the encroachment area, defined as the overlapping region of the actor's current lane and the reference car's lanes within the same junction, originating from different entrances, and considering the reference car's lane history over its entire trajectory.

96.16.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
ref_car vehicle The reference vehicle whose lane history is used to define the encroachment area No default value Mandatory None
start_buffer float Fraction of the encroachment area excluded from the start, where the modifier will return False. For example, start_buffer = 0.25 excludes the first 25% of the area. 0.0 Optional None
end_buffer float Fraction of the encroachment area excluded from the end, where the modifier will return False. For example, end_buffer = 0.25 excludes the last 25% of the area. 0.0 Optional None
negate bool See details false Optional None

96.17 sut_vehicle.global_position

Checks if the global distance (Euclidean distance) between the Ego and an object is within the specified range.

96.17.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
distance range of length Allowed distance range in length between the Ego and the object. This distance is calculated based on the nearest points between the Ego and the object No default value Mandatory None
ref_object physical_object Reference object used to measure the Euclidean distance No default value Mandatory None

96.18 sut_vehicle.lateral_position

Checks if the lateral distance between the Ego and an object is within the specified range.

96.18.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
distance range of length Allowed lateral distance range from the specified side of the actor, should be non-negative No default value Mandatory None
ref_object physical_object Reference object used to measure the lateral distance No default value Mandatory None
side av_side Specifies the side (left or right) on which the object should be relative to the vehicle No default value Mandatory None
measure_by av_measure_by Defines whether the distance between vehicles is measured from their center points (center_to_center) or their nearest edges (nearest). center_to_center Optional None
negate bool See details false Optional None

96.19 sut_vehicle.longitudinal_position

Checks if the longitudinal distance between the Ego and an object is within range.

96.19.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
distance length Defines the maximum allowed distance between actors which must be a positive value. This distance is calculated based on the nearest points between the Ego and the object, according to the specified distance_type. No default value Mandatory None
ahead_of physical_object Reference object used to measure the longitudinal distance when it is ahead of the Ego No default value MandatorySet aheadOrBehind
behind physical_object Reference object used to measure the longitudinal distance when it is behind the Ego No default value MandatorySet aheadOrBehind
distance_type distance_type Defines the distance type for the longitudinal distance check. The options are local (local coordinate system where the Ego is the origin) and road (the distance is calculated along the Ego trajectory in Frenet coordinates, i.e., relative to the longitudinal and lateral axes of the road.). No default value Optional None
negate bool See details false Optional None

96.20 vehicle.traffic_light

Checks if there is a traffic light in the vehicle's current lane (including behind the vehicle) or in any lanes ahead within the specified distance. If a traffic light state is specified, only traffic lights matching that state are accepted.

96.20.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
distance length Defines the maximum allowed distance to the traffic light, in length units. The distance is calculated from the center of the vehicle No default value MandatorySet timeOrDistance
time time Defines the maximum allowed distance to the traffic light, in time units. The distance is calculated from the center of the vehicle No default value MandatorySet timeOrDistance
state traffic_light_state Defines the required state of the traffic light [go, protected_go, slow, stop] No default value Optional None
negate bool See details false Optional None

96.21 vehicle.keep_lane

Checks if the vehicle remains in the same lane.

96.21.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
lane_calculation_tolerance length Specifies the tolerance when calculating the actor's lane. This distance is calculated based on the nearest points between the actor and the lane No default value Optional None

96.22 vehicle.lateral_offset

Checks if a vehicle is within the specified lateral distance from its lane

96.22.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
distance range of length Allowed distance range from the specified side of the actor's lane. The distance measurement depends on the line parameter: "center" measures from the vehicle's center, "left" from its left edge, and "right" from its right edge. Negative values indicate positions to the right and positive to the left. For example, with line: "left" and a distance of [-1..5]meters, the vehicle's left edge is between 1 meter inside and 5 meters outside the lane. No default value Optional None
line line Defines the reference line on the lane from which the distance is measured (left, right, center) center Optional None
at av_at_kind See details all Optional None
return_value_for_non_driving_lane bool In case the vehicle is not on a driving lane (such as shoulder), the modifier will always return the specified value. No default value Optional None

96.23 vehicle.nearest_on_lane

Checks if a vehicle is the nearest vehicle behind or ahead of the Ego.

96.23.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
ahead_of vehicle Checks if the actor is the nearest object ahead of the reference car No default value MandatorySet aheadOrBehind
behind vehicle Checks if the actor is the nearest object behind the reference car No default value MandatorySet aheadOrBehind
negate bool See details false Optional None

96.24 sut_vehicle.leading_to_junction

Checks if the Ego is approaching the junction and has yielded right of way; supports only the Ego.

96.24.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
start_offset range of length Required distance range from the junction entry, in length units, for the actor to be considered as being inside the junction. This distance is calculated from the center of the vehicle [-10..10]meter Optional None

96.25 vehicle.on_road_element

Checks if the vehicle is on a specified road element.

96.25.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
road_element logiq_road_element Specifies which road_element the modifier is checking. The supported road elements are highway, highway_exit, highway_entry, road_to_force_merge, and lane_to_force_merge_conflict. No default value Mandatory None
negate bool See details false Optional None
start_offset range of length Required distance range from the road_element start (in length units) for the actor to be considered inside the road_element. The distance is calculated from the center of the vehicle No default value Optional roadOffset
end_offset range of length Required distance range from the road_element end, in length units, for the actor to be considered inside the road_element. The distance is calculated from the center of the vehicle No default value Optional roadOffset

96.26 vehicle.off_road

Checks if a vehicle is off-road.

96.26.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
veer_threshold float A float number from 0 to 1 representing the portion of the car that veers. A veer_threshold of 0.5 means that at least half of the car's width must be outside the lane to exceed the threshold. 0.5 Optional None
is_off_any_road bool When set to true, the modifier checks whether the vehicle is no longer on any road. When set to false, the modifier checks if the vehicle has deviated from its designated road—the road it is currently on, based on its direction of travel and the map. No default value Optional None

96.27 vehicle.road

Check if the actor will be, has been, or currently is on the same or opposite road as the ref_car

96.27.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
road_relation road_relation Specifies the road relation to check. The options are same (same road) and opposite (opposite road) No default value Mandatory None
ref_car physical_object Reference object used to determine the road condition No default value Mandatory None
past_time_window time Allowed past time range for the actor to be on the same or opposite road as the reference object. Must be non-negative. Any value later than the recording start time is treated as the start time. 0s Optional None
future_time_window time Allowed future time range for the actor to be on the same or opposite road as the reference object. Must be non-negative. Any value later than the recording end time is treated as the end time. 0s Optional None
negate bool See details false Optional None
use_geometric_closest_lane bool In addition to the lane determined by the actor's trajectory, enable calculations based on the closest lane of the referenced object false Optional None

96.28 vehicle.height

Checks if the actor's height is within range. "Taller_than" or "shorter_than" return true if the actor exceeds or falls below a reference vehicle's height within the range.

96.28.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
height range of length Allowed range of height No default value Mandatory None
taller_than vehicle Sets a vehicle to have a greater height than the reference vehicle (by range) No default value Optional tallerOrShorter
shorter_than vehicle Sets a vehicle to have a shorter height than the reference vehicle (by range) No default value Optional tallerOrShorter
negate bool See details false Optional None

96.29 vehicle.angles_within_range

Checks if the angle difference is within range, using the actor's yaw vs. the ref_car's yaw, or vs. its lane if ref_car is not specified.

96.29.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
ref_car vehicle Reference vehicle used to calculate the angle difference No default value Optional None
angle_diff range of angle Allowed range of angle difference No default value Mandatory None
negate bool See details false Optional None

96.30 vehicle.traffic_ahead

Checks if the vehicle is in traffic, by looking for a slow or stopped vehicle ahead of the reference vehicle which blocks its way

96.30.1 Parameters

Parameter Type Description Default value Mandatory/Optional/MandatorySet Exclusive sets
at av_at_kind See details all Optional None
max_lon_distance_to_ahead_vehicle length Maximum longitudinal distance to the vehicle ahead. The distance is calculated from the centers of both vehicles, and the axis is based on the receiver vehicle's global yaw No default value Mandatory None
max_lat_distance_to_ahead_vehicle length Maximum lateral distance to the vehicle ahead. The distance is calculated from the centers of both vehicles, and the axis is based on the receiver vehicle's global yaw No default value Mandatory None
max_speed_of_ahead_vehicle speed Maximum speed of the vehicle ahead No default value Optional None
negate bool See details false Optional None

96.31 Mutual parameters

96.31.1 at

All evaluation modifiers have an optional at parameter, with the following possible values:

  • all – the modifier is enforced throughout this phase (default)
  • start – the modifier is enforced at the start of the phase
  • end – the modifier is enforced at the end of the phase

96.31.2 negate

When negate is set to true, the modifier will return false in cases where it would have returned true, and vice versa.

Mandatory/Optional/MandatorySet

  • Mandatory – The parameter must be specified.
  • Optional – The parameter is not required.
  • MandatorySet – The parameter belongs to a set in which exactly one parameter must be specified