163. Lead Vehicle evaluation scenario

In the lead_vehicle evaluation scenario, the vehicle_actor drives ahead of the Ego in the same lane, and the Ego follows it.

Scenario location: $FTX/logiq/scenario_library_post_match/lead_vehicle/lead_vehicle

163.1 Actors

The actors associated with this scenario are as follows:

Actor	Description	Type	Depiction
`ego`	Vehicle under test	`vehicle`
`vehicle_actor`	Vehicle driving ahead of the Ego in the same lane	`vehicle`

163.2 Scenario phases

The phase descriptions are as follows: Ego: The Ego drives in the same lane at a speed above ego_vehicle_min_moving_speed and maintains its position within the lane_departure_threshold tolerance.

163.3 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
`minimum_scenario_duration`	time	s	Minimum execution duration of the lead_vehicle scenario	2s
`lead_vehicle_min_moving_speed`	speed	kph	Minimum speed of the vehicle_actor. Designed to prevent false positive matches of vehicles that are standing still	1kph
`lane_departure_threshold`	length	m	Tolerance of lane calculation	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
`minimum_time_gap_threshold`	time	s	Minimum time gap for a vehicle to qualify as the lead_vehicle	0.1s
`minimum_distance_threshold`	length	m	Minimum distance for a vehicle to qualify as the lead_vehicle	1m
`maximum_time_gap_threshold_start`	time	s	Maximum time gap for a vehicle to qualify as the lead_vehicle for the start condition	8s
`maximum_distance_threshold_start`	length	m	Maximum distance for a vehicle to qualify as the lead_vehicle for the start condition	80m
`maximum_time_gap_threshold_end`	time	s	Maximum time gap for a vehicle to qualify as the lead_vehicle for the end condition	10s
`maximum_distance_threshold_end`	length	m	Maximum distance for a vehicle to qualify as the lead_vehicle for the end condition	100m
`ego_vehicle_min_moving_speed`	speed	kph	Minimum speed of the Ego to match the scenario	1kph

[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	—

163.4 Metrics

163.4.1 Coverage

Item	Description	Values	Unit/Type
`min_vehicle_distance`	Minimum distance gap throughout the scenario	[0..100), every: 10.0	m
`min_time_gap`	Minimum time gap between the Ego and the lead_vehicle	[0..10), every: 1.0	s

[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

163.4.2 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	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

163.5 Log and Error Messages

No scenario-specific log messages.

163.6 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: lead_vehicle post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/lead_vehicle/lead_vehicle/lead_vehicle_top.osc"

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

match:
    lead_vehicle: sut.lead_vehicle(minimum_scenario_duration: 2s,
                                   lead_vehicle_min_moving_speed: 1kph,
                                   lane_departure_threshold: 1m,
                                   same_road_limit: 10s,
                                   minimum_time_gap_threshold: 0.1s,
                                   minimum_distance_threshold: 1m,
                                   maximum_time_gap_threshold_start: 8s,
                                   maximum_distance_threshold_start: 80m,
                                   maximum_time_gap_threshold_end: 10s,
                                   maximum_distance_threshold_end: 100m,
                                   ego_vehicle_min_moving_speed: 1kph,
                                   min_distance_from_sut_in_time_units: 0s,
                                   max_distance_from_sut_in_time_units: 5s,
                                   kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])