182. Vehicle Cut Out Behind Ego evaluation scenario

In the vehicle_cut_out_behind_ego evaluation scenario, the vehicle_actor drives behind the Ego in the same lane and then cuts out to the adjacent lane.

Scenario location: $FTX/logiq/scenario_library_post_match/vehicle_cut_out/vehicle_cut_out_behind_ego

182.1 Actors

The actors associated with this scenario are as follows:

Actor	Description	Type	Depiction
`ego`	Vehicle under test	`vehicle`
`vehicle_actor`	Vehicle behind the Ego in the same lane, that moves into an adjacent lane	`vehicle`

Figure 1: Vehicle actor cuts out behind the Ego

182.2 Prerequisites

The vehicle_cut_out_behind_ego scenario requires a road with at least two lanes in the same direction. The Ego must start behind and in the same lane as the vehicle_actor.

182.3 Match criteria

Interval open: The Ego and the vehicle_actor are in the same lane, going in the same direction. The latter vehicle remains in a range of min_distance_from_sut_in_time_units and max_distance_from_sut_in_time_units from the Ego. - Interval close: When the vehicle_actor is ahead of the Ego, in an adjacent lane. - Preconditions: - Disqualifiers / false positives: - Duration / exclusivity:

182.4 Scenario phases

The phase descriptions are as follows:

182.4.1 `cut_out_behind_ego_start`

Ego: The Ego drives in the same lane as the vehicle_actor at the start and continues to drive in the same lane.

vehicle_actor: The vehicle_actor drives behind the Ego in the same lane while maintaining an initial distance between min_distance_from_sut_in_time_units and max_distance_from_sut_in_time_units. It then initiates a lane change and completes the maneuver at the end of the phase.

182.4.2 `cut_out_behind_ego_end`

Ego: The Ego continues driving in the same lane.

vehicle_actor: The vehicle_actor drives in a lane adjacent to the Ego.

182.5 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_scenario_duration`	time	s	Minimum duration of the scenario	0.5s
`max_scenario_duration`	time	s	Maximum duration of the scenario	30s
`min_angle_diff_between_ego_and_vehicle_actor`	angle	degree	Minimum angle difference (in degrees) between the orientation of the Ego and the vehicle actor	0degree
`max_angle_diff_between_ego_and_vehicle_actor`	angle	degree	Maximum angle difference (in degrees) between the orientation of the Ego and the vehicle actor	10degree
`min_cut_out_behind_ego_end_phase_duration`	time	s	Minimum duration of the `cut_out_behind_ego_end` phase	0.5s
`max_cut_out_behind_ego_end_phase_duration`	time	s	Maximum duration of the `cut_out_behind_ego_end` phase	1s

[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	—

182.6 Metrics

182.6.1 Coverage

Item	Description	Values	Unit/Type
`cut_out_side`	Cut out side relative to Ego	left, right	av_side
`ego_speed_at_end`	Speed of the Ego at the end of the scenario	[0..160), every: 10.0	mph
`ego_rel_speed_to_vehicle_at_end`	Relative speed of the Ego to the vehicle_actor at the end of the scenario	[-70..35), every: 10.0	mph
`ego_longitudinal_distance_to_vehicle_at_end`	Longitudinal distance of the Ego to the vehicle_actor at the end of the scenario	[0..100), every: 10.0	m
`cut_out_duration`	Duration of the vehicle cut out behind ego scenario	[0..30), every: 10.0	s
`min_longitudinal_distance_to_vehicle`	Minimum longitudinal distance between the Ego and the vehicle_actor when the vehicle cuts out behind the Ego	[0..100), every: 10.0	m
`faster_vehicle`	Vehicle that is faster at both the start and end of the scenario. If the faster vehicle differs between start and end, the value is both	ego, vehicle_actor, both	faster_vehicle
`ego_rel_speed_to_vehicle_at_start`	Relative speed of the Ego compared to the vehicle_actor at the start of the scenario	[-70..35), every: 10.0	mph
`ego_longitudinal_distance_to_vehicle_at_start`	Longitudinal distance between the Ego and the vehicle_actor at the start of the scenario	[0..100), every: 10.0	m
`ego_time_gap_to_vehicle_at_start`	Time gap between the Ego and the vehicle_actor at the start of the scenario	[1..5), every: 0.5	s

[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

182.6.2 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

182.7 Log and Error Messages

No scenario-specific log messages.

182.8 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: vehicle_cut_out_behind_ego post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/vehicle_cut_out/vehicle_cut_out_behind_ego/vehicle_cut_out_behind_ego_top.osc"

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

match:
    vehicle_cut_out_behind_ego: sut.vehicle_cut_out_behind_ego(min_scenario_duration: 1s,
                                                               max_scenario_duration: 30s,
                                                               min_angle_diff_between_ego_and_vehicle_actor: 0degree,
                                                               max_angle_diff_between_ego_and_vehicle_actor: 10degree,
                                                               min_cut_out_behind_ego_end_phase_duration: 0.5sec,
                                                               max_cut_out_behind_ego_end_phase_duration: 1s,
                                                               min_distance_from_sut_in_time_units: 0s,
                                                               max_distance_from_sut_in_time_units: 6s,
                                                               kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])