149. Ego Forced Merge Behind NPC evaluation scenario

In the ego_forced_merge_behind_npc evaluation scenario, the Ego merges from the merging lane into the vehicle's lane, behind the vehicle.

Scenario location: $FTX/logiq/scenario_library/ego_merge/ego_forced_merge_behind_npc

149.1 Actors

The actors associated with this scenario are as follows:

Actor	Description	Type	Depiction
`ego`	Vehicle under test	`vehicle`
`vehicle_actor`	Vehicle actor	`vehicle`

149.2 Scenario phases

The phase descriptions are as follows:

149.2.1 `ego_on_merging_lane`

Ego: The Ego drives in the merging lane.

149.2.2 `ego_merged`

Ego: The Ego is forced to merge from the merging lane into the vehicle_actor's lane, positioning behind the vehicle_actor. The Ego is at least distance_from_end_of_merging_lane meters from the end of the merging lane.

vehicle_actor: The vehicle_actor drives ahead of the Ego in the same lane, at a distance no greater than max_time_ahead_of_ego.

149.3 Parameters

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

Parameter	Type	Description	Default value
`max_time_ahead_of_ego`	time	Maximum time ahead of the Ego in headway distance	5sec

The input items inherited from the sut.ego_forced_merge_with_npc scenario are as follows:

Parameter	Type	Description	Default value
`end_phase_duration`	time	Maximum time of the end phase duration after the merge	—
`distance_from_end_of_merging_lane`	length	Offset from the end of the merging lane (negative value means distance after the end of the merging lane)	—

149.4 Metrics

Metrics collected are given below:

149.4.1 Coverage

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

Item	Description	Range	Unit/Type
`num_of_parallel_lanes_at_end`	Number of parallel lanes at the end of the scenario	0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10	int
`num_of_anti_parallel_lanes_at_end`	Number of anti-parallel lanes at the end of the scenario	0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10	int
`road_width_at_end`	Road width at the end of the scenario	[0..40), every: 2.5	m
`road_speed_limit_at_end`	Road speed limit at the end of the scenario	[10..80), every: 5.0	mph

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

Item	Description	Range	Unit/Type
`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
`agent_speed_at_start`	Agent speed at start	[0..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..100)	mph
`agent_max_speed`	Agent maximum speed throughout the scenario	[0..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..100)	mph
`agent_max_acceleration`	Agent maximum acceleration throughout the scenario	[-4..-2), [-2..0), [0..2), [2..4), [4..6), [6..8), [8..10), [10..15), [15..20)	mpsps
`agent_min_acceleration`	Agent minimum acceleration throughout the scenario. Negative values indicate deceleration	[-20..-15), [-15..-10), [-10..-8), [-8..-6), [-6..-4), [-4..-2), [-2..0), [0..2), [2..4)	mpsps
`min_ttc`	Minimum time to collision with the reference vehicle throughout the scenario. See here for more information about the TTC metric definition	[0..10), every: 2.0	s
`min_mttc`	Minimum modified time to collision with the reference vehicle throughout the scenario. See here for more information about the MTTC metric definition	[0..10), every: 2.0	s

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

Item	Description	Range	Unit/Type
`num_of_parallel_lanes_at_start`	Number of parallel lanes at the start of the scenario, or just before the junction if the scenario starts inside a junction	0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10	int
`num_of_anti_parallel_lanes_at_start`	Number of anti-parallel lanes at the start of the scenario, or just before the junction if the scenario starts inside a junction	0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10	int
`road_speed_limit`	Road speed limit	[10..80), every: 5.0	mph
`road_width_at_start`	Road width at start	[0..40), every: 2.5	m
`ego_speed_at_start`	Ego speed at start	[0..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..100)	mph
`ego_max_speed`	Ego maximum speed throughout the scenario	[0..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..100)	mph
`ego_max_acceleration`	Ego maximum acceleration throughout the scenario	[-4..-2), [-2..0), [0..2), [2..4), [4..6), [6..8), [8..10), [10..15), [15..20)	mpsps
`ego_min_acceleration`	Ego minimum acceleration throughout the scenario. Negative values indicate deceleration	[-20..-15), [-15..-10), [-10..-8), [-8..-6), [-6..-4), [-4..-2), [-2..0), [0..2), [2..4)	mpsps
`ego_lane_at_start`	Ego lane at the start of the scenario, or just before the junction if the scenario starts inside a junction	1, 2, 3, 4, 5, 6, 7, 8, 9, 10	int
`max_num_of_static_actors`	Maximum number of static objects in a single frame, within a 20m radius from the Ego	[0..3), [3..5), [5..10), [10..20), [20..50), [50..150)	int
`max_num_of_moving_actors`	Maximum number of dynamic objects in a single frame, within a 50m radius from the Ego	[0..3), [3..5), [5..10), [10..20), [20..50), [50..150)	int

149.4.2 KPI

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

Item	Description	Range	Unit/Type
`vehicle_actor_tracking_id`	Tracking id of the vehicle_actor as described in the object list data. If the data comes from a generative run, the UID will be used		string

149.5 Log and Error Messages

No scenario-specific log messages.

149.6 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: ego_forced_merge_behind_npc post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/ego_merge/ego_forced_merge_behind_npc/ego_forced_merge_behind_npc_top.osc"

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

match:
    ego_forced_merge_behind_npc: sut.ego_forced_merge_behind_npc(max_time_ahead_of_ego: 5s,
                                                                 kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])