152. Emergency Vehicle Near Ego evaluation scenario

In the emergency_vehicle_near_ego evaluation scenario an emergency vehicle is near the Ego.

Scenario location: $FTX/logiq/scenario_library_post_match/emergency_event/emergency_vehicle_near_ego

152.1 Actors

The actors associated with this scenario are as follows:

Actor	Description	Type	Depiction
`ego`	Vehicle under test	`vehicle`
`emergency_vehicle`	Emergency vehicle such as ambulance, fire vehicle, or police vehicle	`emergency_vehicle`

Figure 1: Ego traverse junction with NPC

152.2 Scenario phases

The phase descriptions are as follows:

152.2.1 `emergency_vehicle_near_ego`

Ego: The Ego is driving on the road.

emergency_vehicle: The emergency vehicle is near the Ego with a maximal distance of max_distance_from_ego.

152.3 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_distance_from_ego`	length	m	Maximum distance between the `emergency_vehicle` and the Ego	10m

152.4 Metrics

152.4.1 Coverage

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

Item	Description	Values	Unit/Type
`min_ttc`	Minimum time to collision with the reference vehicle throughout the scenario	[0..10), every: 2.0	s
`min_gap`	Minimum gap with the reference vehicle throughout the scenario	[0..150), every: 10.0	m
`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
`agent_speed_at_start`	Agent speed at start	[0..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..100)	mph
`agent_max_speed`	Agent maximum speed throughout the scenario	[0..5), [5..10), [10..15), [15..20), [20..25), [25..30), [30..35), [35..100)	mph
`agent_max_acceleration`	Agent maximum acceleration throughout the scenario	[0..2), [2..4), [4..6), [6..8), [8..10), [10..15), [15..20), [20..50)	mpsps
`agent_max_deceleration`	Agent maximum deceleration throughout the scenario	[-50..-20), [-20..-15), [-15..-10), [-10..-8), [-8..-6), [-6..-4), [-4..-2), [-2..0)	mpsps

[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

152.4.2 KPI

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

Item	Description	Values	Unit/Type
`emergency_vehicle_tracking_id`	Tracking id of the emergency_vehicle 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

152.5 Log and Error Messages

No scenario-specific log messages.

152.6 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: emergency_vehicle_near_ego post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/emergency_event/emergency_vehicle_near_ego/emergency_vehicle_near_ego_top.osc"

# The following example imports the top file and overrides one parameter:

match:
    emergency_vehicle_near_ego: sut.emergency_vehicle_near_ego(max_distance_from_ego: 10m)