147. Ego Pullover To The Right evaluation scenario

In the ego_pullover_to_the_right evaluation scenario, the Ego is driving and then pulls over to the right side of the road.

Scenario location: $FTX/logiq/scenario_library_post_match/ego_exit/ego_pullover_to_the_right

147.1 Actors

The actors associated with this scenario are as follows:

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

147.2 Scenario phases

The phase descriptions are as follows:

147.2.1 `pull_over`

Ego The Ego drives on the road at a speed above min_driving_speed. The Ego turns the steering wheel to park on the side of the road, at an angle within the range of min_pull_over_turn_angle to max_pull_over_turn_angle related to its lane. Then the Ego slows down to a speed below min_driving_speed.

147.2.2 `ego_stop`

Ego The Ego is parked on the right side of the road at a speed below max_standstill_speed. It is positioned in 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_angle_diff to max_angle_diff relative to the lane.

147.3 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_duration_of_ego_stop_phase`	time	s	Minimum time of the `ego_stop` phase	1s
`max_duration_of_ego_stop_phase`	time	s	Maximum time of the `ego_stop` phase	3s
`max_duration_of_ego_is_driving_phase`	time	s	Maximum time of the `ego_is_driving` phase	3s
`max_duration_of_ego_is_slowing_down_phase`	time	s	Maximum time of the `ego_is_slowing_down` phase	15s
`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	Maximum lateral distance from the Ego's rightmost point to the right lane boundary for the Ego to be considered as stopped on the right side of the road	0.4m
`minimal_offset_from_junction_start`	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	-7m
`min_pull_over_turn_angle`	angle	degree	Minimum acceptable turning angle between the Ego and its lane when pulling over to a parking space from the road	320degree
`max_pull_over_turn_angle`	angle	degree	Maximum acceptable turning angle between the Ego and its lane when pulling over to a parking space from the road	357.5degree

147.4 Metrics

147.4.1 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_pullover_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

147.4.2 KPI

[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

147.5 Log and Error Messages

No scenario-specific log messages.

147.6 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_pullover_to_the_right post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/ego_exit/ego_pullover_to_the_right/ego_pullover_to_the_right_top.osc"

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

match:
    ego_pullover_to_the_right: sut.ego_pullover_to_the_right(max_standstill_speed: 1kph,
                                                             min_driving_speed: 10kph,
                                                             min_duration_of_ego_stop_phase: 1s,
                                                             max_duration_of_ego_stop_phase: 3s,
                                                             max_duration_of_ego_is_driving_phase: 3s,
                                                             max_duration_of_ego_is_slowing_down_phase: 15s,
                                                             min_parallel_parking_angle_diff: 345degree,
                                                             max_parallel_parking_angle_diff: 375degree,
                                                             max_lateral_distance: 0.4m,
                                                             minimal_offset_from_junction_start: -7m,
                                                             min_pull_over_turn_angle: 320degree,
                                                             max_pull_over_turn_angle: 357.5degree)