140. Ego Laterally Encroach in Lane evaluation scenario
In the ego_laterally_encroach_in_lane evaluation scenario, the Ego laterally encroaches towards another vehicle in the same lane.
Scenario location: $FTX/logiq/scenario_library_post_match/adjacent_vehicles/ego_laterally_encroach_in_lane
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Vehicle to which the Ego approaches | vehicle |
 |
140.1 Scenario phases
The phase descriptions are as follows:
140.1.1 sut_laterally_encroach_in_lane
Ego: The Ego stays in the same lane at a maximum distance of max_lateral_distance from the vehicle_actor and drives at a lateral speed of at least min_lateral_speed.
vehicle_actor: The vehicle_actor drives in the same lane as the Ego, on the npc_relative_side_to_ego side of the Ego, with a longitudinal distance between a minimum of min_longitudinal_distance and a maximum of max_longitudinal_distance.
140.1.2 sut_near_npc_in_same_lane
Ego: The Ego stays in the same lane, keeping a maximum of max_lateral_distance from the vehicle_actor
vehicle_actor: The vehicle_actor drives in the same lane as the Ego, on the npc_relative_side_to_ego side
of the Ego, with a longitudinal distance between a minimum of min_longitudinal_distance and a maximum of max_longitudinal_distance.
140.2 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 |
|---|---|---|---|---|
npc_relative_side_to_ego |
av_side | — | Side of the NPC relative to the Ego during the scenario (left or right) | Required |
min_lateral_speed |
speed | mps | Minimum lateral speed of the Ego during the sut_laterally_encroach_in_lane phase |
0.15 mps |
max_lateral_distance |
length | m | Maximum lateral distance between the Ego and the NPC during the entire scenario | 5m |
min_longitudinal_distance |
length | m | Minimum longitudinal distance between the Ego and the NPC during the entire scenario | -5m |
max_longitudinal_distance |
length | m | Maximum longitudinal distance between the Ego and the NPC during the entire scenario | 5m |
[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 | — |
140.3 Metrics
140.3.1 Coverage
| Item | Description | Values | Unit/Type |
|---|---|---|---|
npc_relative_side_to_ego |
Side of the vehicle_actor relative to the Ego |
left, right | av_side |
[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 |
140.3.2 KPI
[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 | Values | 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 |
140.4 Log and Error Messages
No scenario-specific log messages.
140.5 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).
import "$FTX/logiq/scenario_library_post_match/adjacent_vehicles/ego_laterally_encroach_in_lane/ego_laterally_encroach_in_lane_top.osc"
# The following example imports the top file and overrides six parameters:
match:
ego_laterally_encroach_in_lane: sut.ego_laterally_encroach_in_lane(npc_relative_side_to_ego: left,
min_lateral_speed: 0.15mps,
max_lateral_distance: 5m,
min_longitudinal_distance: -5m,
max_longitudinal_distance: 5m,
kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])