178. Lead Vehicle Pullover To The Right evaluation scenario

In the lead_vehicle_pullover_to_the_right evaluation scenario, the lead vehicle is driving ahead of the Ego in the same lane and then pulls over to the right side of the road.

Scenario location: $FTX/logiq/scenario_library_post_match/vehicle_exit/lead_vehicle_pullover_to_the_right

178.1 Actors

The actors associated with this scenario are as follows:

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

Figure 1: Lead vehicle is driving ahead of the Ego

Figure 2: Lead vehicle pulls over to the side of the road

178.2 Scenario phases

The phase descriptions are as follows:

178.2.1 `lead_part`

Ego: The Ego drives in the same lane with a lateral offset tolerance of lane_calculation_tolerance_length.

vehicle_actor: The vehicle_actor drives ahead of the Ego in the same lane, with a minimal speed of max_standstill_speed

178.2.2 `pull_over`

vehicle The vehicle drives on the road at a speed above min_driving_speed. The vehicle turns the steering wheel to park on the side of the road, at an angle within the range of min_pull_over_turn_angle to max_pull_over_turn_angle related to its lane. Then the vehicle slows down to a speed below min_driving_speed.

178.2.3 `vehicle_stop`

vehicle The vehicle is standing on the right side of the road at a speed below max_standstill_speed. It doesn't have another vehicle ahead of it with a longitudinal distance of up to max_lon_distance_to_ahead_vehicle and lateral distance of up to max_lat_distance_to_ahead_vehicle driving at a speed of up to max_speed_of_ahead_vehicle. It is positioned in the rightmost lane and either it is within a lateral distance of less than max_lateral_distance_right_side from the lane right boundary to the vehicle's rightmost point and within a lateral distance of more than min_lateral_distance_left_side from the lane left boundary to the vehicle's leftmost point, or, its lane is a non-drivable lane. The vehicle maintains a distance of at least minimal_offset_from_junction_start from a junction entry. Its yaw angle is within the range of min_angle_diff to max_angle_diff relative to the lane.

178.3 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_standstill_speed`	speed	kph	Maximum speed of the vehicle to be considered as stopped	1kph
`min_lead_part_phase_duration`	time	s	Minimum time of the `lead_part` phase	2s
`lane_calculation_tolerance_length`	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
`min_driving_speed`	speed	kph	Minimum speed of the vehicle to be considered as driving	10kph
`min_duration_of_vehicle_stop_phase`	time	s	Minimum time of the `vehicle_stop` phase	1s
`max_duration_of_vehicle_stop_phase`	time	s	Maximum time of the `vehicle_stop` phase	3s
`max_duration_of_vehicle_is_driving_phase`	time	s	Maximum time of the `vehicle_is_driving` phase	3s
`max_duration_of_vehicle_is_slowing_down_phase`	time	s	Maximum time of the `vehicle_is_slowing_down` phase	15s
`min_parallel_parking_angle_diff`	angle	degree	Minimum angle difference between the vehicle and its lane for the parking to be considered parallel	345degree
`max_parallel_parking_angle_diff`	angle	degree	Maximum angle difference between the vehicle and its lane for the parking to be considered parallel	375degree
`max_lateral_distance_right_side`	length	m	Maximum lateral distance from the vehicle's rightmost point to the right lane boundary for the vehicle to be considered as stopped on the right side of the road	0.4m
`min_lateral_distance_left_side`	length	m	Minimum lateral distance from the vehicle's leftmost point to the left lane boundary for the vehicle to be considered as stopped on the right side of the road	-1m
`minimal_offset_from_junction_start`	length	m	A negative offset from the start of the junction. If the vehicle is within this offset (e.g., -15 meters indicates 15 meters before the junction start), the scenario will not be captured	-15m
`min_pull_over_turn_angle`	angle	degree	Minimum acceptable turning angle between the vehicle and its lane when pulling over to a parking space from the road	320degree
`max_pull_over_turn_angle`	angle	degree	Maximum acceptable turning angle between the vehicle and its lane when pulling over to a parking space from the road	357.5degree
`max_lon_distance_to_ahead_vehicle`	length	m	Maximum longitudinal distance to a vehicle ahead for the reference vehicle to be considered "in traffic". Is measured by center-to-center NOTE: actors of type 'stationary_vehicle' are not considered for this purpose	15m
`max_lat_distance_to_ahead_vehicle`	length	m	Maximum lateral distance to the vehicle ahead for the reference vehicle to be considered "in traffic". Is measured by center-to-center NOTE: actors of type 'stationary_vehicle' are not considered for this purpose	2m
`max_speed_of_ahead_vehicle`	speed	kph	Maximum speed of the vehicle ahead for the reference vehicle to be considered "in traffic". NOTE: actors of type 'stationary_vehicle' are not considered for this purpose	10kph

[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	—

178.4 Metrics

178.4.1 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

178.4.2 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

178.5 Log and Error Messages

No scenario-specific log messages.

178.6 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_pullover_to_the_right post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/vehicle_exit/lead_vehicle_pullover_to_the_right/lead_vehicle_pullover_to_the_right_top.osc"

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

match:
    lead_vehicle_pullover_to_the_right: sut.lead_vehicle_pullover_to_the_right(max_standstill_speed: 1kph,
                                                                               min_lead_part_phase_duration: 2s,
                                                                               lane_calculation_tolerance_length: 1m,
                                                                               same_road_limit: 10s,
                                                                               min_driving_speed: 10kph,
                                                                               min_duration_of_vehicle_stop_phase: 1s,
                                                                               max_duration_of_vehicle_stop_phase: 3s,
                                                                               max_duration_of_vehicle_is_driving_phase: 3s,
                                                                               max_duration_of_vehicle_is_slowing_down_phase: 15s,
                                                                               min_parallel_parking_angle_diff: 345degree,
                                                                               max_parallel_parking_angle_diff: 375degree,
                                                                               max_lateral_distance_right_side: 0.4m,
                                                                               min_lateral_distance_left_side: -1m,
                                                                               minimal_offset_from_junction_start: -15m,
                                                                               min_pull_over_turn_angle: 320degree,
                                                                               max_pull_over_turn_angle: 357.5degree,
                                                                               max_lon_distance_to_ahead_vehicle: 15m,
                                                                               max_lat_distance_to_ahead_vehicle: 2m,
                                                                               max_speed_of_ahead_vehicle: 10kph,
                                                                               kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])

OSC2 code: lead_vehicle_pullover_to_the_right scenario usage

sut.lead_vehicle_pullover_to_the_right(min_lead_part_phase_duration: 2s, min_driving_speed: 10kph,
                                       min_duration_of_vehicle_stop_phase: 1s, max_duration_of_vehicle_stop_phase: 3s,
                                       max_lateral_distance_right_side: 0.4m, min_lateral_distance_left_side: -1m,
                                       minimal_offset_from_junction_start: -15m,
                                       kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])