164. Lead Vehicle Driving Backward evaluation scenario

In the lead_vehicle_driving_backward evaluation scenario, the vehicle_actor drives in reverse (backwards) ahead of the Ego in the same lane.

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

164.1 Actors

The actors associated with this scenario are as follows:

Actor	Description	Type	Depiction
`ego`	Vehicle under test	`vehicle`
`vehicle_actor`	Lead vehicle	`vehicle`

164.2 Scenario phases

The phase descriptions are as follows:

164.2.1 `lead_vehicle_driving_backward`

Ego: The Ego drives behind the vehicle_actor in the same lane and stays in a driving lane for the entire scenario.

vehicle_actor: The vehicle_actor drives in reverse (backwards) ahead of the Ego in the same lane, with a speed in the range between min_speed and max_speed, and stays in a driving lane for the entire scenario.

164.3 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
`min_speed`	speed	kph	Minimum speed of the vehicle_actor	-30kph
`max_speed`	speed	kph	Maximum speed of the vehicle_actor	-3kph
`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 entire scenario	0.5s

[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	—

164.4 Metrics

164.4.1 Coverage

[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

164.4.2 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

164.5 Log and Error Messages

No scenario-specific log messages.

164.6 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_driving_backward post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/lead_vehicle/lead_vehicle_driving_backward/lead_vehicle_driving_backward_top.osc"

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

match:
    lead_vehicle_driving_backward: sut.lead_vehicle_driving_backward(min_speed: -30kph,
                                                                     max_speed: -3kph,
                                                                     same_road_limit: 10s,
                                                                     min_scenario_duration: 0.5s,
                                                                     kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])