184. NPC Entering Lane From Right evaluation scenario

In the npc_entering_lane_from_right evaluation scenario, the vehicle_actor starts driving off the road, on the right side, then enters the Ego's lane ahead of the Ego.

Scenario location: $FTX/logiq/scenario_library_post_match/vehicle_merge/npc_entering_lane_from_right

184.1 Actors

The actors associated with this scenario are as follows:

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

184.2 Scenario phases

The phase descriptions are as follows:

184.2.1 `off_road_phase`

vehicle_actor: The vehicle_actor drives with at least veer_from_lane_threshold off the road.

184.2.2 `entering_lane_phase`

vehicle_actor: The vehicle_actor is beginning to merge onto the road.

184.2.3 `merged_phase`

Ego: The Ego is driving in the same lane, behind the vehicle_actor.

vehicle_actor: The vehicle_actor is driving ahead of the Ego in the same lane.

184.3 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_off_road_phase_duration`	time	s	Minimum time of the `off_road_phase` phase	0s
`max_off_road_phase_duration`	time	s	Maximum time of the `off_road_phase` phase	3s
`min_merged_phase_duration`	time	s	Minimum time of the `merged_phase` phase	0s
`max_merged_phase_duration`	time	s	Maximum time of the `merged_phase` phase	3s
`veer_from_lane_threshold`	float	—	Threshold for the vehicle_actor to be considered as veering from the lane	1
`maximal_lateral_distance`	length	m	Maximum lateral distance from the right lane boundary, should be negative to indicate the right side. For example, -1m means the vehicle is at least 1 meter off the right lane boundary	-1m
`minimal_distance_ahead_of_ego`	length	m	Minimum distance ahead of the Ego the vehicle actor should be while merging onto the road	0.5m
`maximal_distance_ahead_of_ego`	length	m	Maximum distance ahead of the Ego the vehicle actor should while merging onto the road	80m
`on_road_percentage`	float	6	Minimum required percentage of the vehicle_actor's bounding-box to be within the road's boundaries. Should be between 0 and 1	0.6

[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	—

184.4 Metrics

184.4.1 Coverage

Item	Description	Values	Unit/Type
`entering_lane_side`	Vehicle_actor's merging side	left, right	av_side

[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

184.4.2 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

184.5 Log and Error Messages

No scenario-specific log messages.

184.6 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: npc_entering_lane_from_right post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/vehicle_merge/npc_entering_lane_from_right/npc_entering_lane_from_right_top.osc"

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

match:
    npc_entering_lane_from_right: sut.npc_entering_lane_from_right(min_off_road_phase_duration: 0s,
                                                                   max_off_road_phase_duration: 3s,
                                                                   min_merged_phase_duration: 0s,
                                                                   max_merged_phase_duration: 3s,
                                                                   veer_from_lane_threshold: 1,
                                                                   maximal_lateral_distance: -1m,
                                                                   minimal_distance_ahead_of_ego: 0.5m,
                                                                   maximal_distance_ahead_of_ego: 80m,
                                                                   on_road_percentage: 0.6,
                                                                   kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])