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167. Lead Vehicle With Cut In evaluation scenario

In the lead_vehicle_with_cut_in evaluation scenario, the vehicle_actor drives ahead of the Ego in the same lane, and the Ego follows it. Then, the cut_in_vehicle changes lanes into the Ego's lane, positioning itself between the vehicle_actor and the Ego.

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

167.1 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
cut_in_vehicle Vehicle that cuts in front of the Ego vehicle
Figure 1: Lead vehicle with cut in
Figure 2: Lead vehicle with cut in

167.2 Scenario phases

The phase descriptions are as follows:

167.2.1 lead_vehicle_with_adjacent_vehicle

Ego: The Ego drives in one lane.

vehicle_actor: The vehicle_actor drives ahead of the Ego in the same lane, maintaining a distance from the Ego in the range between minimal_longitudinal_distance_from_lead_vehicle and maximal_longitudinal_distance_from_lead_vehicle during the entire phase.

cut_in_vehicle: The cut_in_vehicle drives in a lane adjacent to the Ego and the vehicle_actor, ahead of the Ego, and maintains a distance from the Ego in the range between minimal_longitudinal_distance_from_cut_in_vehicle and maximal_longitudinal_distance_from_cut_in_vehicle during the entire phase.

167.2.2 cut_in_vehicle_change_lane

Ego: The Ego drives in one lane, behind the vehicle_actor.

vehicle_actor: The vehicle_actor drives in the same lane as the Ego

cut_in_vehicle: The cut_in_vehicle changes lanes into the Ego's lane, ahead of the Ego, and maintains a distance from the Ego in the range between minimal_longitudinal_distance_from_cut_in_vehicle and maximal_longitudinal_distance_from_cut_in_vehicle during the entire phase.

167.3 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 Maximum time of the lead_vehicle_with_adjacent_vehicle phase, which is the main phase of the scenario 1s
max_lead_part_phase_duration time s Maximum time of the lead_vehicle_with_adjacent_vehicle phase, which is the main phase of the scenario 8s
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
minimal_longitudinal_distance_from_lead_vehicle length m Minimum longitudinal distance between the Ego and the lead_vehicle during the scenario 0m
maximal_longitudinal_distance_from_lead_vehicle length m Maximum longitudinal distance between the Ego and the lead_vehicle during the scenario 100m
minimal_longitudinal_distance_from_cut_in_vehicle length m Minimum longitudinal distance between the Ego and the cut_in_vehicle during the scenario 0m
maximal_longitudinal_distance_from_cut_in_vehicle length m Maximum longitudinal distance between the Ego and the cut_in_vehicle during the scenario 100m
same_road_limit time s Time threshold for the vehicle_actor to be considered as driving on the same road as the Ego 10s
[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 —

167.4 Metrics

167.4.1 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

167.4.2 KPI

Item Description Values Unit/Type
cut_in_vehicle_tracking_id Tracking id of the cut_in_vehicle as described in the object list data. If the data comes from a generative run, the uid will be used string
[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

167.5 Log and Error Messages

No scenario-specific log messages.

167.6 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
  • $FTX/evaluate/library/scenarios/scenario_library_post_match.osc (evaluation builds).
OSC2 code: lead_vehicle_with_cut_in post-match scenario usage
import "$FTX/logiq/scenario_library_post_match/lead_vehicle/lead_vehicle_with_cut_in/lead_vehicle_with_cut_in_top.osc"

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

match:
    lead_vehicle_with_cut_in: sut.lead_vehicle_with_cut_in(min_lead_part_phase_duration: 1s,
                                                           max_lead_part_phase_duration: 8s,
                                                           lead_vehicle_min_moving_speed: 1kph,
                                                           minimal_longitudinal_distance_from_lead_vehicle: 0m,
                                                           maximal_longitudinal_distance_from_lead_vehicle: 100m,
                                                           minimal_longitudinal_distance_from_cut_in_vehicle: 0m,
                                                           maximal_longitudinal_distance_from_cut_in_vehicle: 100m,
                                                           same_road_limit: 10s,
                                                           kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])