183. Vehicle Merge at Highway Entry evaluation scenario

In the vehicle_merge_at_highway_entry evaluation scenario, the vehicle_actor merges from the merging lane ahead of the Ego into the Ego's lane at the highway entry.

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

183.1 Actors

The actors associated with this scenario are as follows:

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

Figure 1: Vehicle merge at highway entry

183.2 Scenario phases

The phase descriptions are as follows:

183.2.1 `start_phase`

ego: The Ego drives on the highway and stays in the same lane during the entire phase.

vehicle_actor: The vehicle_actor drives on the highway entry lane and stays in the same lane during the entire phase.

183.2.2 `start_merging_phase`

ego: The Ego drives on the highway and remains in the same lane throughout the entire phase.

vehicle_actor: The vehicle_actor is starting to merge onto the highway.

183.2.3 `end_merging_phase`

ego: The Ego drives on the highway, behind the vehicle_actor.

vehicle_actor: The vehicle_actor merges onto the highway from the merging lane into the Ego's lane, ahead of the Ego.

183.3 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_start_phase_duration`	time	s	Minimum time of the `start_phase` phase	0s
`max_start_phase_duration`	time	s	Maximum time of the `start_phase` phase	2.5s
`min_start_merged_lane_phase_duration`	time	s	Minimum time of the `start_merged_lane_phase` phase	0s
`max_start_merged_lane_phase_duration`	time	s	Maximum time of the `start_merged_lane_phase` phase	8s
`min_end_merged_lane_phase_duration`	time	s	Minimum time of the `end_merged_lane_phase` phase	0s
`max_end_merged_lane_phase_duration`	time	s	Maximum time of the `end_merged_lane_phase` phase	1s
`distance_from_highway_entry_end`	length	m	Distance from the end of the highway entry to the vehicle_actor in the `start_phase`	-10m
`speed_gap_threshold`	speed	kph	Speed gap threshold to detect speed drop of the Ego	10kph

[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	—

183.4 Metrics

183.4.1 Coverage

Item	Description	Values	Unit/Type
`ego_speed_at_start_merging`	Ego speed at the start of the merge phase	[0..160), every: 10.0	kph
`vehicle_actor_speed_at_start_merging`	Vehicle_actor speed at the start of the merge phase	[0..160), every: 10.0	kph
`distance_at_start_merging`	Distance between the Ego and the vehicle_actor at the start of the merge phase	[0..200), every: 10.0	m
`ego_slowed_down`	Has the Ego slowed down	true, false	bool
`vehicle_actor_speed_at_end`	Vehicle_actor speed at the end of the merge phase	[0..160), every: 10.0	kph

[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

183.4.2 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

183.5 Log and Error Messages

No scenario-specific log messages.

183.6 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: vehicle_merge_at_highway_entry post-match scenario usage

import "$FTX/logiq/scenario_library_post_match/vehicle_merge/vehicle_merge_at_highway_entry/vehicle_merge_at_highway_entry_top.osc"

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

match:
    vehicle_merge_at_highway_entry: sut.vehicle_merge_at_highway_entry(min_start_phase_duration: 0s,
                                                                       max_start_phase_duration: 2.5s,
                                                                       min_start_merged_lane_phase_duration: 0s,
                                                                       max_start_merged_lane_phase_duration: 8s,
                                                                       min_end_merged_lane_phase_duration: 0s,
                                                                       max_end_merged_lane_phase_duration: 1s,
                                                                       distance_from_highway_entry_end: -10m,
                                                                       speed_gap_threshold: 10kph,
                                                                       kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])