26. Nudge family base

The nudge_family_base consists of coverage and KPIs common to all nudge scenarios and is inherited by scenarios involving a nudge maneuver. The metrics can be identified by the prefix ftlx_.

27. Nudge family base

This is the base scenario for the nudge family, inherited from the nvdx_lib_base scenario, which contains the common parameters, coverage, and KPIs for the nudge family.

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

27.1 Parameters

There are no input parameters

27.2 Metrics

Metrics collected are given below:

27.2.1 Coverage

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

27.2.2 KPI

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