165. Lead Vehicle U-Turn evaluation scenario

In the lead_vehicle_u_turn evaluation scenario, the vehicle_actor drives ahead of the Ego in the same lane, and the Ego follows it while the lead vehicle performs a U-turn.

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

165.1 Actors

The actors associated with this scenario are as follows:

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

165.2 Scenario phases

The phase descriptions are as follows:

165.2.1 `lead_part`

Ego: The Ego continues driving in the same lane and the yaw rate difference from the vehicle_actor is not within the range of min_parallel_yaw_diff and max_parallel_yaw_diff.

vehicle_actor: The vehicle_actor drives ahead of 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.

165.2.2 `u_turn`

Ego: The Ego continues driving in the same lane and the yaw rate difference from the vehicle_actor is not within the range of min_parallel_yaw_diff and max_parallel_yaw_diff or min_anti_parallel_yaw_diff and max_anti_parallel_yaw_diff.

vehicle_actor: The vehicle_actor starts to perform a U-turn, and the yaw rate difference is no longer aligned with its original lane, but also not yet aligned to the opposite lane.

165.2.3 `finish_u_turn`

Ego: The Ego continues driving in the same outgoing lane and the yaw rate difference from the vehicle_actor is within the range of min_anti_parallel_yaw_diff and max_anti_parallel_yaw_diff.

vehicle_actor: The vehicle_actor completes the U-turn and continues driving in the oncoming lane adjacent to the Ego and the yaw rate difference from the Ego is within the range of min_anti_parallel_yaw_diff and max_anti_parallel_yaw_diff.

165.3 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_lead_part_phase_duration`	time	s	Minimum time of the `lead_part` phase	2s
`max_lead_part_phase_duration`	time	s	Maximum time of the `lead_part` phase	3s
`max_u_turn_phase_duration`	time	s	Maximum time of the `u_turn` phase	15s
`max_finish_u_turn_phase_duration`	time	s	Maximum time of the `finish_u_turn` phase	3s
`min_finish_u_turn_phase_duration`	time	s	Minimum time of the `finish_u_turn` 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
`opposite_road_limit`	time	s	Time threshold for the vehicle_actor to be considered as driving on the opposite road as the Ego	20s
`min_parallel_yaw_diff`	angle	degree	Minimum angle difference between the vehicle_actor and the Ego to be considered as parallel (same direction)	340degree
`max_parallel_yaw_diff`	angle	degree	Maximum angle difference between the vehicle_actor and the Ego to be considered as parallel (same direction)	380degree
`min_anti_parallel_yaw_diff`	angle	degree	Minimum angle difference between the vehicle_actor and the Ego to be considered as anti-parallel (opposite direction)	160degree
`max_anti_parallel_yaw_diff`	angle	degree	Maximum angle difference between the vehicle_actor and the Ego to be considered as anti-parallel (opposite direction)	200degree

[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	—

165.4 Metrics

165.4.1 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

165.4.2 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

165.5 Log and Error Messages

No scenario-specific log messages.

165.6 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_u_turn post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/lead_vehicle/lead_vehicle_u_turn/lead_vehicle_u_turn_top.osc"

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

match:
    lead_vehicle_u_turn: sut.lead_vehicle_u_turn(min_lead_part_phase_duration: 2s,
                                                 max_lead_part_phase_duration: 3s,
                                                 max_u_turn_phase_duration: 15s,
                                                 max_finish_u_turn_phase_duration: 3s,
                                                 min_finish_u_turn_phase_duration: 2s,
                                                 lane_calculation_tolerance_length: 1m,
                                                 same_road_limit: 10s,
                                                 opposite_road_limit: 20s,
                                                 min_parallel_yaw_diff: 340degree,
                                                 max_parallel_yaw_diff: 380degree,
                                                 min_anti_parallel_yaw_diff: 160degree,
                                                 max_anti_parallel_yaw_diff: 200degree,
                                                 min_distance_from_sut_in_time_units: 0s,
                                                 max_distance_from_sut_in_time_units: 5s,
                                                 kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])