160. Ego Traverse Junction With VRU evaluation scenario

In the ego_traverse_junction_with_vru evaluation scenario, the Ego drives through a junction while a VRU is inside the junction.

Scenario location: $FTX/logiq/scenario_library_post_match/junctions/ego_traverse_junction_with_vru

160.1 Actors

The actors associated with this scenario are as follows:

Actor	Description	Type	Depiction
`ego`	Vehicle under test	`vehicle`
`vru`	VRU	`plain_object`

Figure 1: Ego traverse junction with vru

160.2 Scenario phases

The phase descriptions are as follows:

160.2.1 `sut_in_junction_and_vru_on_road`

Ego: The Ego drives inside the junction or within the distance of min_offset_from_junction_start.

VRU: The VRU in the same junction as the Ego.

160.2.2 `sut_in_junction`

Ego: The Ego is driving in the junction.

160.2.3 `sut_exit_junction`

Ego: The Ego exits the junction and is at a distance between min_offset_from_junction_end and max_offset_from_junction_end from the junction's end.

160.3 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
`sut_max_distance_from_junction`	length	m	Maximum distance from the Ego to the junction	10m
`min_offset_from_junction_start`	length	m	Minimum distance from the Ego to the junction start	-10m
`min_offset_from_junction_end`	length	m	Minimum distance from the Ego to the junction end	-5m
`max_offset_from_junction_end`	length	m	Maximum distance from the Ego to the junction end	5m

160.4 Metrics

160.4.1 Coverage

Item	Description	Values	Unit/Type
`vru_conflict_group`	VRU conflict group is determined by the VRU's location within the junction and the direction it crosses from	UNDEFINED, VRU_LD_incoming_road_farside, VRU_LD_incoming_road_nearside, VRU_LD_outgoing_road_from_farside, VRU_LD_outgoing_road_from_nearside, VRU_LD_in_junction_from_nearside, VRU_LD_in_junction_from_farside, VRU_OD_in_junction, VRU_SD_in_junction, NO_CONFLICT	vru_conflict_group

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

Item	Description	Values	Unit/Type
`object_kind`	Object kind of `object`, as derived from Foretify	object, person, cyclist, vehicle, truck, trailer, fod, animal, sign, bus, motorcycle, emergency_vehicle, stationary_vehicle	evaluation_object_kind

[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

160.4.2 KPI

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

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

[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

160.5 Log and Error Messages

No scenario-specific log messages.

160.6 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_traverse_junction_with_vru post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/junctions/ego_traverse_junction_with_vru/ego_traverse_junction_with_vru_top.osc"

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

match:
    ego_traverse_junction_with_vru: sut.ego_traverse_junction_with_vru(sut_max_distance_from_junction: 10m,
                                                                       min_offset_from_junction_start: -10m,
                                                                       min_offset_from_junction_end: -5m,
                                                                       max_offset_from_junction_end: 5m)