Skip to content

143. Ego Stopped In Lane evaluation scenario

The ego_stopped_in_lane detects cases where the Ego comes to a stop in the lane, even though the lane is clear and free of other traffic or objects.

Scenario location: $FTX/logiq/scenario_library_post_match/ego_stop/ego_stopped_in_lane

Actor Description Type Depiction
ego Vehicle under test vehicle
Figure 1: Ego Stopped In Lane

143.1 Scenario phases

The phase descriptions are as follows:

143.1.1 ego_drive

Ego: The Ego drives at a speed of at least max_standstill_speed.

143.1.2 ego_stop

Ego: The Ego comes to a stop in the lane at a speed of at most max_standstill_speed.

143.1.3 ego_stop_while_the_lane_is_clear

Ego: The Ego stops in the lane at a speed no greater than max_standstill_speed, while the lane ahead is clear for at least minimal_distance_of_clear_lane. A fraction of at least on_road_percentage of the Ego is inside the road's driving lane's boundaries. The Ego is not in a junction nor at a distance of at least minimal_offset_from_junction away from one. The scenario should last at least min_phase_duration.

143.2 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
max_standstill_speed speed mps Maximum speed of the Ego to be considered as stopped 1.5mps
minimal_offset_from_junction length m Minimum offset from a junction where the scenario does not occur. Should be negative -20m
minimal_distance_of_clear_lane length m Minimum distance of clear lane, should be positive 20m
max_drive_phase_duration time s Maximum duration of the ego_drive phase 2s
on_road_percentage float 6 Minimum required percentage of the Ego's bounding-box to be within the road's boundaries. Should be between 0 and 1 0.6
min_phase_duration time s Minimum phase duration 0.5s

143.3 Metrics

143.3.1 Coverage

[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

143.3.2 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

143.4 Log and Error Messages

No scenario-specific log messages.

143.5 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
  • $FTX/evaluate/library/scenarios/scenario_library_post_match.osc (evaluation builds).
OSC2 code: ego_stopped_in_lane post-match scenario usage
import "$FTX/logiq/scenario_library_post_match/ego_stop/ego_stopped_in_lane/ego_stopped_in_lane_top.osc"

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

match:
    ego_stopped_in_lane: sut.ego_stopped_in_lane(max_standstill_speed: 1.5mps,
                                                 minimal_offset_from_junction: -20m,
                                                 minimal_distance_of_clear_lane: 20m,
                                                 max_drive_phase_duration: 2s,
                                                 on_road_percentage: 0.6,
                                                 min_phase_duration: 0.5s)