15. Lane change family base

The lane_change_family_base consists of coverage, and KPIs common across all lane change scenarios. This scenario is inherited by scenarios where a lane change maneuver occurs. The metrics can be identified by the prefix ftlx_.

Scenario location: $FTX/env/nvidia/nvdx_lib/ftlx/lane_change_family/lane_change_family_base

15.1 Parameters

There are no input parameters

15.2 Metrics

Metrics collected are given below:

15.2.1 Coverage

Item	Description	Range	Unit/Type
`ftlx_number_of_lanes_at_start`	Total number of lanes in the same direction available at lane change initiation	[1..7), every: 1.0	int
`ftlx_number_of_lanes_at_end`	Total number of lanes in the same direction available at lane change completion	[1..7), every: 1.0	int
`ftlx_lane_change_side`	Direction of lane change based on lateral displacement relative to the curb, independent of lane indices. inner_side indicates movement away from the curb, towards the road center, while outer_side indicates movement towards the curb. The lane change side is determined by the lateral displacement of the Ego relative to the curb.	inner_side, outer_side	lane_change_side
`ftlx_ego_start_lane_position`	Starting lane position (innermost, outermost, middle)	innermost, outermost, middle	lane_relative_side
`ftlx_ego_end_lane_position`	Destination lane position (innermost, outermost, middle)	innermost, outermost, middle	lane_relative_side
`ftlx_lane_change_duration`	The duration of the lane change interval	[2..10), every: 1.0	s
`ftlx_ego_max_lat_acceleration`	Highest absolute lateral acceleration during lane change	[-5..5), every: 1.0	mpsps
`ftlx_ego_std_dev_lat_acceleration`	Higher standard deviations indicate rougher maneuvering	[0..5), every: 1.0	mpsps
`ftlx_ego_std_dev_speed`	Higher standard deviations indicate significant speed changes during the lane change	[0..10), every: 1.0	kph
`ftlx_ego_lat_displacement_during_lane_change`	Lateral distance relative to the initial positioning of the Ego on the lane	[1..10), every: 1.0	m
`ftlx_ego_distance_traveled_during_lane_change`	Total distance traveled, including longitudinal and lateral movements	[5..100), every: 10.0	m

[Click] The coverage items inherited from the sut.nvdx_lib_base scenario are as follows:

Item	Description	Range	Unit/Type
`ftlx_ego_speed_at_start`	Initial speed of the Ego at the start of the scenario	[0..150), every: 10.0	kph
`ftlx_ego_speed_at_end`	Final speed of the Ego at the end of the scenario	[0..150), every: 10.0	kph
`ftlx_ego_lane_width_at_end`	Width of the Ego's lane at the end of the scenario	[2..5), every: 0.5	m
`ftlx_ego_min_speed`	Lowest speed of the Ego during the scenario	[0..150), every: 10.0	kph
`ftlx_ego_max_speed`	Highest speed of the Ego during the scenario	[0..150), every: 10.0	kph
`ftlx_ego_min_lon_acceleration`	Maximum deceleration of the Ego during the scenario	[-10..0), every: 1.0	mpsps
`ftlx_ego_max_lon_acceleration`	Maximum acceleration of the Ego during the scenario	[0..20), every: 1.0	mpsps
`ftlx_ego_maneuver_family`	L0 maneuver family of the Ego	none, change_lane, drive_in_lane, nav_intersection, nudge	maneuver_family_type

15.2.2 KPI

[Click] The KPIs inherited from the sut.nvdx_lib_base scenario are as follows:

Item	Description	Range	Unit/Type
`is_finished`	Is finished with SUT state information	true, false	bool
`is_sampled`	Is sampled with SUT state information during the interval	true, false	bool
`is_started`	Is started with SUT state information	true, false	bool
`is_valid_lane_position_at_start`	Is valid lane position at start	true, false	bool
`is_valid_lane_position_at_end`	Is valid lane position at end	true, false	bool
`is_valid_lane_position_at_interval`	Is valid lane position at interval	true, false	bool

15.2.3 Cross coverage items

The test execution data for the combination of multiple coverage items is as follows:

Item	Description	Referred coverage items
`cross_ftlx_ego_speed_at_start_ftlx_lane_change_side`	Cross of the speed of Ego at start and the side of lane change	ftlx_ego_speed_at_start, ftlx_lane_change_side
`cross_ftlx_ego_max_lat_acceleration_ftlx_ego_distance_traveled_during_lane_change`	Cross of the maximum lateral acceleration of Ego and the distance it traveled during the lane change	ftlx_ego_max_lat_acceleration, ftlx_ego_distance_traveled_during_lane_change
`cross_ftlx_ego_start_lane_position_ftlx_lane_change_side_ftlx_ego_end_lane_position`	Cross of the starting lane position of Ego, the side of lane change and end lane position of Ego	ftlx_ego_start_lane_position, ftlx_lane_change_side, ftlx_ego_end_lane_position
`cross_ftlx_number_of_lanes_at_start_ftlx_lane_change_duration`	Cross of the number of lanes at start and the duration of lane change	ftlx_number_of_lanes_at_start, ftlx_lane_change_duration
`cross_ftlx_number_of_lanes_at_start_ftlx_lane_change_duration_ftlx_number_of_lanes_at_end`	Cross of the number of lanes at start, the duration of lane change, and the number of lanes at end	ftlx_number_of_lanes_at_start, ftlx_lane_change_duration, ftlx_number_of_lanes_at_end
`cross_ftlx_ego_speed_at_start_ftlx_lane_change_duration`	Cross of the speed of Ego at start and the duration of lane change	ftlx_ego_speed_at_start, ftlx_lane_change_duration
`cross_ftlx_ego_max_speed_ftlx_lane_change_duration`	Cross of the maximum speed of Ego and the duration of lane change	ftlx_ego_max_speed, ftlx_lane_change_duration
`cross_ftlx_ego_min_speed_ftlx_lane_change_duration`	Cross of the minimum speed of Ego and the duration of lane change	ftlx_ego_min_speed, ftlx_lane_change_duration