153. Follower Vehicle evaluation scenario
In the follower_vehicle evaluation scenario, the vehicle_actor drives behind the Ego in the same lane, and the Ego drives ahead of it.
Scenario location: $FTX/logiq/scenario_library_post_match/follower_vehicle/follower_vehicle
153.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Follower vehicle | vehicle |
 |
153.2 Scenario phases
The phase descriptions are as follows:
153.2.1 follower_vehicle
Ego: The Ego drives in one lane.
vehicle_actor: The vehicle_actor drives behind the Ego in the same lane, maintaining a distance from the Ego in the
range between min_distance_from_sut_in_time_units and max_distance_from_sut_in_time_units during the entire phase.
153.3 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 |
|---|---|---|---|---|
lane_calculation_tolerance_length |
length | m | Tolerance of lane calculation gives tolerance advantage to return true from keep_lane() | 1m |
same_road_limit |
time | s | Time threshold for the vehicle_actor to be considered as driving on the same road as the Ego | 10s |
min_scenario_duration |
time | s | Minimum time of the follower_vehicle scenario |
1s |
[Click] The input items inherited from the sut.logiq_base_lane_following_scenario scenario are as follows:
| Parameter | Type | Unit | Description | Default value |
|---|---|---|---|---|
min_distance_from_sut_in_time_units |
time | s | Minimum headway distance between the Ego and the vehicle actor | 0s |
max_distance_from_sut_in_time_units |
time | s | Maximum headway distance between the Ego and the vehicle actor | 5s |
[Click] The input items inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:
| Parameter | Type | Unit | Description | Default value |
|---|---|---|---|---|
kinds |
list of evaluation_object_kind | — | Possible kinds of vehicle_actor in the scenario | — |
153.4 Metrics
153.4.1 Coverage
[Click] The coverage items inherited from the sut.logiq_base_lane_following_scenario scenario are as follows:
| Item | Description | Values | Unit/Type |
|---|---|---|---|
ego_min_distance_to_vehicle |
Minimum distance gap throughout the scenario | [0..200), every: 20.0 | m |
[Click] The coverage items inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:
| Item | Description | Values | Unit/Type |
|---|---|---|---|
vehicle_speed_at_start |
Agent speed at start of the scenario | [0..150), every: 10.0 | mph |
[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 |
153.4.2 KPI
[Click] The KPIs inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:
| Item | Description | Values | Unit/Type |
|---|---|---|---|
vehicle_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 |
vehicle_tracking_id |
Tracking id of the agent as described in the object list data. If the data comes from a generative run, the UID will be used | string | |
vehicle_avg_speed |
Agent average longitudinal speed throughout the scenario | mph | |
vehicle_max_speed |
Agent maximum speed throughout the scenario | mph | |
vehicle_min_speed |
Agent minimum speed throughout the scenario | mph | |
vehicle_max_lon_acceleration |
Agent maximum longitudinal acceleration throughout the scenario | mpsps | |
vehicle_min_lon_acceleration |
Agent minimum longitudinal acceleration throughout the scenario | mpsps | |
ego_min_ttc_to_vehicle |
Minimum time to collision with the reference vehicle throughout the scenario | s | |
ego_min_mttc_to_vehicle |
Minimum modified time to collision with the reference vehicle throughout the scenario | s |
[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 |
153.5 Log and Error Messages
No scenario-specific log messages.
153.6 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: follower_vehicle post-match scenario usage
import "$FTX/logiq/scenario_library_post_match/follower_vehicle/follower_vehicle/follower_vehicle_top.osc"
# The following example imports the top file and overrides six parameters:
match:
follower_vehicle: sut.follower_vehicle(lane_calculation_tolerance_length: 1m,
same_road_limit: 10s,
min_scenario_duration: 1s,
min_distance_from_sut_in_time_units: 0s,
max_distance_from_sut_in_time_units: 5s,
kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])