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151. Ego Pullout From Right evaluation scenario

In the ego_pullout_from_right evaluation scenario, the Ego pulls out of a space in the parking lane on the right side of the road, merges onto the road, and then begins driving.

Scenario location: $FTX/logiq/scenario_library_post_match/ego_merge/ego_pullout_from_right

151.1 Actors

The actors associated with this scenario are as follows:

Actor Description Type Depiction
ego Vehicle under test vehicle
Figure 1: Ego Pullout

151.2 Scenario phases

The phase descriptions are as follows:

151.2.1 ego_stop

Ego The Ego is parked on the side of the road with a speed below max_standstill_speed. It is positioned on the rightmost lane within a lateral distance of less than max_lateral_distance from the lane right boundary to the Ego's rightmost point. The Ego maintains a distance of at least minimal_offset_from_junction_start from a junction entry. Its yaw angle is within the range of min_parallel_parking_angle_diff to max_angle_diff relative to the lane.

151.2.2 pulling_out

Ego: The Ego turns the steering wheel to merge onto the road, maintaining a turn angle within the range of min_merge_turn_angle to max_merge_turn_angle relative to its lane. Initially, the Ego starts driving at a speed between max_standstill_speed and min_driving_speed as it begins merging onto the road. Once the Ego reaches or exceeds min_driving_speed, it is considered to have merged and continues driving.

151.3 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
max_standstill_speed speed kph Maximum speed of the Ego to be considered as stopped 1kph
min_driving_speed speed kph Minimum speed of the Ego to be considered as driving 10kph
min_ego_stop_phase_duration time s Minimum time of the ego_stop phase 1s
max_ego_stop_phase_duration time s Maximum time of the ego_stop phase 3s
max_ego_merging_phase_duration time s Maximum time of the ego_merging phase 15s
max_ego_merged_phase_duration time s Maximum time of the ego_merged phase 3s
min_parallel_parking_angle_diff angle degree Minimum angle difference between the Ego and its lane for the parking to be considered parallel 345degree
max_parallel_parking_angle_diff angle degree Maximum angle difference between the Ego and its lane for the parking to be considered parallel 375degree
max_lateral_distance length m A negative offset from the start of the junction. If the Ego is within this offset (e.g., -7 meters indicates 7 meters before the junction start), the scenario will not be captured 0.4m
minimal_offset_from_junction_start length m Minimum distance from a junction -7m
min_merge_turn_angle angle degree Minimum acceptable turning angle between the Ego and its lane when pulling out of a parking space to merge onto the road 1.5degree
max_merge_turn_angle angle degree Maximum acceptable turning angle between the Ego and its lane when pulling out of a parking space to merge onto the road 40degree

151.4 Metrics

151.4.1 Coverage

Item Description Values Unit/Type
ego_lane_width_at_start Ego's lane width at the start of the scenario [0..40), every: 2.5 m
distance_to_front_parked_car Distance from the Ego to the front parked car. If the distance is greater than max_adjacent_parking_distance meters, this cover point is ignored [0..5), every: 0.5 m
distance_to_rear_parked_car Distance from the Ego to the rear parked car. If the distance is greater than max_adjacent_parking_distance meters, this cover point is ignored [0..5), every: 0.5 m
space_available_in_parking_spot Space available between the front and rear parked cars for the Ego to pull over and park. If the space is greater than max_parking_spot_length meters, this cover point is ignored. This cover point might appear even if distance_to_front_parked_car or distance_to_rear_parked_car is ignored [0..15), every: 0.5 m
[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

151.4.2 KPI

[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

151.5 Log and Error Messages

No scenario-specific log messages.

151.6 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
  • $FTX/evaluate/library/scenarios/scenario_library_post_match.osc (evaluation builds).
OSC2 code: ego_pullout_from_right post-match scenario usage
import "$FTX/logiq/scenario_library_post_match/ego_merge/ego_pullout_from_right/ego_pullout_from_right_top.osc"

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

match:
    ego_pullout_from_right: sut.ego_pullout_from_right(max_standstill_speed: 1kph,
                                                       min_driving_speed: 10kph,
                                                       min_ego_stop_phase_duration: 1s,
                                                       max_ego_stop_phase_duration: 3s,
                                                       max_ego_merging_phase_duration: 15s,
                                                       max_ego_merged_phase_duration: 3s,
                                                       min_parallel_parking_angle_diff: 345degree,
                                                       max_parallel_parking_angle_diff: 375degree,
                                                       max_lateral_distance: 0.4m,
                                                       minimal_offset_from_junction_start: -7m,
                                                       min_merge_turn_angle: 1.5degree,
                                                       max_merge_turn_angle: 40degree)