168. Stop With Lead Vehicle And Traffic On Side evaluation scenario

In the stop_with_lead_vehicle_and_traffic_on_side evaluation scenario, the vehicle_actor stops ahead of the Ego in the same lane, and the Ego stops behind it while there is traffic on both sides of the Ego.

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

168.1 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: Stop with lead vehicle and traffic on side

168.2 Scenario phases

The phase descriptions are as follows:

168.2.1 `sut_blocked`

Ego: The Ego drives in one lane. There is traffic on both lanes adjacent to the Ego with a maximal distance of distance_ahead_sut_where_lane_occupied ahead of the Ego and distance_behind_sut_where_lane_occupied behind the Ego. The Ego is stopped with a maximal of max_speed kph. vehicle_actor: The vehicle_actor drives ahead of the Ego in the same lane and remains close to the Ego at a distance range between min_sut_distance_from_npc and max_sut_distance_from_npc.

168.2.2 `sut_block_end`

Ego: The Ego is driving.

vehicle_actor: The vehicle_actor is driving.

168.3 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
`distance_ahead_sut_where_lane_occupied`	length	m	Maximum distance between the Ego to any vehicle on the side ahead of the Ego in the sut_blocked phase	10m
`distance_behind_sut_where_lane_occupied`	length	m	Maximum distance between the Ego to any vehicle on the side behind the Ego in the sut_blocked phase	10m
`max_sut_distance_from_npc`	length	m	Minimum distance between the Ego and the vehicle_actor in the sut_blocked phase	20m
`min_sut_distance_from_npc`	length	m	Maximum distance between the Ego and the vehicle_actor in the sut_blocked phase	0m
`max_speed`	speed	kph	Minimum speed of the Ego in the sut_blocked phase	5kph

[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	—

168.4 Metrics

168.4.1 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

168.4.2 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

168.5 Log and Error Messages

No scenario-specific log messages.

168.6 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: stop_with_lead_vehicle_and_traffic_on_side post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/lead_vehicle/stop_with_lead_vehicle_and_traffic_on_side/stop_with_lead_vehicle_and_traffic_on_side_top.osc"

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

match:
    stop_with_lead_vehicle_and_traffic_on_side: sut.stop_with_lead_vehicle_and_traffic_on_side(distance_ahead_sut_where_lane_occupied: 10m,
                                                                                               distance_behind_sut_where_lane_occupied: 10m,
                                                                                               max_sut_distance_from_npc: 20m,
                                                                                               min_sut_distance_from_npc: 0m,
                                                                                               max_speed: 5kph,
                                                                                               kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])