142. Adjacent vehicle scenario

In the adjacent_vehicle evaluation scenario, the Ego drives in one lane and the vehicle_actor drives in an adjacent lane.

Scenario location: $FTX/logiq/scenario_library_post_match/adjacent_vehicles/adjacent_vehicle

142.1 Actors

The actors associated with this scenario are as follows:

Actor	Description	Type	Depiction
`ego`	Vehicle under test	`vehicle`
`vehicle_actor`	Vehicle driving adjacent to the Ego in a neighboring lane	`vehicle`

142.2 Scenario phases

The phase descriptions are as follows:

142.2.1 `vehicle_adjacent_to_ego`

Ego: The Ego drives in a lane adjacent to the vehicle_actor at a minimum speed of min_speed_threshold at the start of the phase.

vehicle_actor: The vehicle_actor drives in a lane adjacent to the Ego at a minimum speed of min_speed_threshold at the start of the phase. The interval is active while the relative distance to the Ego is between min_relative_distance_to_ego and max_relative_distance_to_ego.

142.3 Configuration parameters

Use these parameters to constrain the scenario. If you do not set a specific value, the default value will be used.

Parameter	Type	Unit	Description	Default value
`min_relative_distance_to_ego`	length	m	Minimum relative distance between the vehicle_actor and the Ego during the scenario	-5m
`max_relative_distance_to_ego`	length	m	Maximum relative distance between the vehicle_actor and the Ego during the scenario	5m
`min_vehicle_adjacent_to_ego_phase_duration`	time	s	Minimum time of the `vehicle_adjacent_to_ego` phase	0.1s
`max_vehicle_adjacent_to_ego_phase_duration`	time	s	Maximum time of the `vehicle_adjacent_to_ego` phase	10s
`min_speed_threshold`	speed	kph	Minimum speed of the vehicle actor to match the scenario	2kph
`same_road_limit`	time	s	Time threshold for the vehicle_actor to be considered as driving on the same road as the Ego	10s

[Click] The input items inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:

Parameter	Type	Unit	Description	Default value
`kinds`	list of evaluation_object_kind	—	Possible kinds of vehicle_actor in the scenario	—

142.4 Metrics

142.4.1 Coverage

Item	Description	Values	Unit/Type
`adjacent_vehicle_side`	Vehicle side relative to Ego	left, right	av_side
`adjacent_vehicle_speed_at_end`	Adjacent vehicle speed at the end of the scenario	[0..150), every: 10.0	kph
`faster_vehicle`	Vehicle that is faster at both the start and the end of the scenario. If different vehicles are faster at the start and the end, the value is both	ego, vehicle_actor, both	faster_vehicle

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

Item	Description	Values	Unit/Type
`vehicle_speed_at_start`	Agent speed at start of the scenario	[0..150), every: 10.0	mph

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

Item	Description	Values	Unit/Type
`ego_speed_at_start`	Ego longitudinal speed at the start of the scenario	[0..160), every: 10.0	mph

142.4.2 KPI

Item	Description	Values	Unit/Type
`adjacent_vehicle_rel_speed_to_ego_at_start`	Relative speed of the adjacent vehicle to the Ego at the start of the scenario		kph
`ego_speed_at_end`	Ego speed at the end of the scenario		kph
`adjacent_vehicle_rel_speed_to_ego_at_end`	Relative speed of the adjacent vehicle to the Ego at the end of the scenario		kph
`adjacent_vehicle_min_rel_speed_to_ego`	Minimum relative speed of the adjacent vehicle to the Ego throughout the scenario		kph
`adjacent_vehicle_max_rel_speed_to_ego`	Maximum relative speed of the adjacent vehicle to the Ego throughout the scenario		kph
`adjacent_vehicle_avg_rel_speed_to_ego`	Average relative speed of the adjacent vehicle to the Ego throughout the scenario		kph
`adjacent_vehicle_min_lat_distance_to_ego`	Minimum lateral distance of the adjacent vehicle to the Ego throughout the scenario		m
`adjacent_vehicle_max_lat_distance_to_ego`	Maximum lateral distance of the adjacent vehicle to the Ego throughout the scenario		m
`adjacent_vehicle_avg_lat_distance_to_ego`	Average lateral distance of the adjacent vehicle to the Ego throughout the scenario		m
`interval_end_reason`	Reason for the end of the scenario	bumper_alignment, lane_change, unknown	interval_end_reason

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

Item	Description	Values	Unit/Type
`vehicle_object_kind`	Object kind as derived from Foretify	object, person, cyclist, vehicle, truck, trailer, fod, animal, sign, bus, motorcycle, emergency_vehicle, stationary_vehicle	evaluation_object_kind
`vehicle_tracking_id`	Tracking id of the agent as described in the object list data. If the data comes from a generative run, the UID will be used		string
`vehicle_avg_speed`	Agent average longitudinal speed throughout the scenario		mph
`vehicle_max_speed`	Agent maximum speed throughout the scenario		mph
`vehicle_min_speed`	Agent minimum speed throughout the scenario		mph
`vehicle_max_lon_acceleration`	Agent maximum longitudinal acceleration throughout the scenario		mpsps
`vehicle_min_lon_acceleration`	Agent minimum longitudinal acceleration throughout the scenario		mpsps
`ego_min_ttc_to_vehicle`	Minimum time to collision with the reference vehicle throughout the scenario		s
`ego_min_mttc_to_vehicle`	Minimum modified time to collision with the reference vehicle throughout the scenario		s

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

Item	Description	Unit/Type
`ego_max_lon_acceleration`	Ego maximum acceleration throughout the scenario	mpsps
`ego_min_lon_acceleration`	Ego minimum acceleration throughout the scenario	mpsps
`ego_min_speed`	Ego minimum longitudinal speed throughout the scenario	mph
`ego_avg_speed`	Ego average longitudinal speed throughout the scenario	mph
`ego_max_speed`	Ego maximum longitudinal speed throughout the scenario	mph
`ego_distance_traveled_during_interval`	Total distance traveled by the Ego during the interval	m
`interval_duration`	Interval duration of the scenario	s

142.5 Log and Error Messages

No scenario-specific log messages.

142.6 Usage

Import the post-match scenario top file and register the matcher in a match: block, overriding only the parameters you need. Any omitted parameters use the defaults listed in Configuration parameters.

The matcher is also available through the shared post-match import bundle:

$FTX/logiq/customers/base/osc/post_match_scenarios.osc
$FTX/evaluate/library/scenarios/scenario_library_post_match.osc (evaluation builds).

OSC2 code: adjacent_vehicle post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/adjacent_vehicles/adjacent_vehicle/adjacent_vehicle_top.osc"

# The following example imports the top file and overrides seven parameters:

match:
    adjacent_vehicle: sut.adjacent_vehicle(min_relative_distance_to_ego: -5m,
                                          max_relative_distance_to_ego: 5m,
                                          min_vehicle_adjacent_to_ego_phase_duration: 0.1s,
                                          max_vehicle_adjacent_to_ego_phase_duration: 10s,
                                          min_speed_threshold: 2kph,
                                          same_road_limit: 10s,
                                          kinds: [vehicle])