Skip to content

28. Nudge

29. Nudge

This scenario represents a nudge maneuver, inherited from the nudge_family_base scenario.

Scenario location: $FTX/env/nvidia/nvdx_lib/ftlx/nudge_family/nudge

29.1 Parameters

There are no input parameters

29.2 Metrics

Metrics collected are given below:

29.2.1 Coverage

[Click] The coverage items inherited from the sut.nudge_family_base scenario are as follows:
Item Description Range Unit/Type
ftlx_nudge_side Direction of nudge relative to the curb. inner_side indicates movement away from the curb, outer_side indicates movement towards the curb. inner_side, outer_side lane_mark_side
ftlx_nudge_duration Duration of the nudge interval [2..10), every: 1.0 s
ftlx_ego_lane_marking_type Type of lane markings (e.g. solid, broken) at the start of the nudge none, solid, broken, solid_solid, solid_broken, broken_solid, broken_broken, botts_dots, grass, curb, edge line_kind
ftlx_number_of_lanes_at_start Total number of driving lanes at the start of the nudge [1..7), every: 1.0 int
ftlx_number_of_lanes_at_end Total number of driving lanes at the end of the nudge [1..7), every: 1.0 int
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_ego_max_lat_displacement_during_nudge Peak absolute lateral displacement from initial lane position during the nudge maneuver [0..4), every: 0.5 m
ftlx_ego_std_dev_speed Standard deviation of Ego speed during the nudge. Higher values indicate significant speed changes [0..10), every: 1.0 kph
ftlx_ego_max_lat_acceleration Highest absolute lateral acceleration during the nudge maneuver [0..5), every: 1.0 mpsps
ftlx_ego_std_dev_lat_acceleration Standard deviation of lateral acceleration during the nudge. Higher values indicate rougher maneuvering [0..5), every: 1.0 mpsps
ftlx_ego_min_euclidean_distance_to_object Minimum Euclidean distance between Ego and the closest object in lane ahead during the nudge [0..30), every: 3.0 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_start Width of the Ego's lane at the start of the scenario [2..5), every: 0.5 m
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_avg_speed Average 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

29.2.2 KPI

[Click] The KPIs inherited from the sut.nudge_family_base scenario are as follows:
Item Description Range Unit/Type
nudge_obstacle_tracking_id Tracking ID of the closest object in lane ahead at nudge start string
[Click] The KPIs inherited from the sut.nvdx_lib_base scenario are as follows:
Item Description Range Unit/Type
ftlx_ego_distance_traveled_during_interval Total distance traveled by the Ego during the interval m
ftlx_interval_duration Duration of the interval s
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