Skip to content

174. SUT yields to crossing VRU evaluation scenario

In the sut_yields_to_crossing_vru evaluation scenario, the Ego gives the right of way to a VRU crossing the road.

Scenario location: $FTX/logiq/scenario_library_post_match/plain_objects/sut_yields_to_crossing_vru

Actor Description Type Depiction
ego Vehicle under test vehicle
crossing_vru Crossing VRU plain_object
Figure 1: SUT Yields to Crossing VRU

174.1 Scenario phases

The phase descriptions are as follows:

174.1.1 vru_on_the_side

Ego: The Ego is driving and located behind the crossing_vru with a maximal distance of crossing_vru_maximal_longitudinal_distance_from_ego.

crossing_vru: The crossing_vru is located adjacent to the Ego, with a lateral distance between crossing_vru_minimal_lateral_distance_from_ego and crossing_vru_maximal_lateral_distance_from_ego. The side where the crossing_vru is located is crossing_vru_side_relative_to_ego_at_start.

174.1.2 sut_slows_down

Ego: The Ego is still located behind the crossing_vru with a maximal distance of crossing_vru_maximal_longitudinal_distance_from_ego. The Ego slows down or stops to yield to the crossing_vru. The Ego should slow down with a maximal deceleration of max_acceleration_for_yield or stop at a speed that is less than standstill_speed. The Ego should not be near a traffic light with a "stop" state within max_offset_from_traffic_light.

crossing_vru: The crossing_vru is located ahead of the Ego.

174.1.3 vru_on_the_other_side

Ego: The Ego is located behind the crossing_vru with a maximal distance of crossing_vru_maximal_longitudinal_distance_from_ego.

crossing_vru: The crossing_vru is located adjacent to the Ego, with a lateral distance between crossing_vru_minimal_lateral_distance_from_ego and crossing_vru_maximal_lateral_distance_from_ego. The side where the crossing_vru is located is crossing_vru_side_relative_to_ego_at_end.

174.2 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
crossing_vru_side_relative_to_ego_at_start av_side — Side of the road the crossing_vru starts from, either left or right —
crossing_vru_side_relative_to_ego_at_end av_side — Side of the road the crossing_vru ends, which should be opposite to the start_side —
max_acceleration_for_yield acceleration mpsps Maximum acceleration for the Ego to consider yielding to the crossing_vru (should be negative, as the Ego should slow down) -1mpsps
standstill_speed speed kph Speed at which the Ego is considered stopping to yield to the crossing_vru 2kph
crossing_vru_minimal_lateral_distance_from_ego length m Minimum lateral distance between the Ego and the crossing VRU at the start and end of the scenario, measured center-to-center. This indicates the crossing extent - for example, 1m per side totals a 2m crossing distance in front of the Ego 1m
crossing_vru_maximal_lateral_distance_from_ego length — Maximum lateral distance between the Ego and the crossing_vru during the scenario —
crossing_vru_maximal_longitudinal_distance_from_ego length — Maximum longitudinal distance between the Ego and the crossing_vru during the scenario —
max_offset_from_traffic_light length m Distance from a traffic light with a "stop" state within which the scenario will not be captured. (For example, if set to 20 meters, the scenario will not be captured if the Ego is within 20 meters of the traffic light displaying "stop".) 20m

174.3 Metrics

174.3.1 Coverage

Item Description Values Unit/Type
vru_crossing_side VRU side at the start of the crossing relative to the Ego, can be left or right left, right av_side
[Click] The coverage items inherited from the sut.logiq_base_object_scenario scenario are as follows:
Item Description Values Unit/Type
object_kind Object kind of object, as derived from Foretify object, person, cyclist, vehicle, truck, trailer, fod, animal, sign, bus, motorcycle, emergency_vehicle, stationary_vehicle evaluation_object_kind
[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

174.3.2 KPI

[Click] The KPIs inherited from the sut.logiq_base_object_scenario scenario are as follows:
Item Description Values Unit/Type
object_tracking_id Tracking id of the object 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_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

174.4 Log and Error Messages

No scenario-specific log messages.

174.5 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
  • $FTX/evaluate/library/scenarios/scenario_library_post_match.osc (evaluation builds).
OSC2 code: sut_yields_to_crossing_vru post-match scenario usage
import "$FTX/logiq/scenario_library_post_match/plain_objects/sut_yields_to_crossing_vru/sut_yields_to_crossing_vru_top.osc"

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

match:
    sut_yields_to_crossing_vru: sut.sut_yields_to_crossing_vru(crossing_vru_side_relative_to_ego_at_start: left,
                                                               crossing_vru_side_relative_to_ego_at_end: right,
                                                               max_acceleration_for_yield: -1mpsps,
                                                               standstill_speed: 2kph,
                                                               crossing_vru_minimal_lateral_distance_from_ego: 1m,
                                                               crossing_vru_maximal_lateral_distance_from_ego: 5m,
                                                               crossing_vru_maximal_longitudinal_distance_from_ego: 10m,
                                                               max_offset_from_traffic_light: 20m)