192. Kinematic Behavior Monitoring

The kinematic_checker checker monitors a vehicle's dynamic performance and emits intervals and raises issues when any kinematic values (such as speed, acceleration, or jerk) exceed predefined thresholds. This checker supports both specification checking (OEM limits) and physical capability checking (absolute physical limits) depending on the configuration provided.

The kinematic_category_behavior modifier monitors specific kinematic categories such as speed, lon_acc, lat_acc, lon_jerk, or lat_jerk and uses a kinematic_checker_config struct linked via keep constraints for configuration.

192.0.1 Start condition

An interval is started when any monitored kinematic parameter (speed, longitudinal acceleration, lateral acceleration, longitudinal jerk, or lateral jerk) exceeds its configured upper threshold or falls below its configured lower threshold.

192.0.2 End condition

The interval ends when all monitored kinematic parameters return within their configured upper and lower limits. An issue is raised at the end of this interval, identifying the violation type (e.g., kinematic_behavior_spec or kinematic_behavior_physical).

192.1 Attributes

The following attributes define the behavior and characteristics of the evaluator.

192.2 Configuration parameters

The following parameters can be configured to customize the evaluator's behavior.

192.3 Metrics

The following metrics are recorded and tracked by the evaluator.

192.4 Log and Error Messages

192.5 Usage

192.5.1 How to instantiate

The kinematic_checker can be instantiated for any vehicle actor.

watcher kinematic_checker is kinematic(vehicle: actor)
checker new_kinematic_spec_lat_jerk_checker is kinematic_category_behavior(
       vehicle: sut.car,
       issue_category: lat_jerk
   ) 
   keep (new_kinematic_spec_lat_jerk_checker.kinematic_checker_config == ftlx_global_eval_config.ego_kinematic_spec_checker_config)

192.5.2 Set parameters at instantiation time

Pass parameters in the keep(...) binding at instantiation time, either from ftlx_global_eval_config or as explicit values.

checker new_kinematic_spec_lat_jerk_checker is kinematic_category_behavior(
       vehicle: sut.car,
       issue_category: lat_jerk
   )
   keep(new_kinematic_spec_lat_jerk_checker.kinematic_checker_config == ftlx_global_eval_config.ego_kinematic_spec_checker_config)

192.5.3 Define and use a custom parameter set

To customize thresholds and behavior, define a kinematic_checker_config struct with the required values:

const custom_kinematic_checker_config: kinematic_checker_config = new
set custom_kinematic_checker_config.speed_upper_threshold = 150kph
set custom_kinematic_checker_config.speed_lower_threshold = -20kph
set custom_kinematic_checker_config.lon_acceleration_upper_threshold = 5mpsps
set custom_kinematic_checker_config.lon_acceleration_lower_threshold = -5mpsps
set custom_kinematic_checker_config.lat_acceleration_upper_threshold = 2mpsps
set custom_kinematic_checker_config.lat_acceleration_lower_threshold = -2mpsps
set custom_kinematic_checker_config.lon_jerk_upper_threshold = 5mpspsps
set custom_kinematic_checker_config.lon_jerk_lower_threshold = -5mpspsps
set custom_kinematic_checker_config.lat_jerk_upper_threshold = 5mpspsps
set custom_kinematic_checker_config.lat_jerk_lower_threshold = -5mpspsps
set custom_kinematic_checker_config.log_level = trace_level

checker custom_kinematic_spec_lat_jerk_checker is kinematic_category_behavior(
       vehicle: sut.car,
       issue_category: lat_jerk
   ) 
   keep (custom_kinematic_spec_lat_jerk_checker.kinematic_checker_config == ftlx_global_eval_config.custom_kinematic_checker_config)

192.5.4 Disabling the evaluator

To disable the evaluator, set the enabled flag to false in the kinematic_checker_config struct:

const kinematic_checker_config: kinematic_checker_config = new
set kinematic_checker_config.enabled = false

192.6 Additional information

All parameters are required, but you don't need to customize all of them. For any parameter you don't customize with set, the default value defined in kinematic_checker_config is used.

Specification checking mode (kinematic_checker_config)

The following table lists the configurable parameters of kinematic_checker_config, their default values, and threshold descriptions used to verify that vehicle kinematic behavior remains within OEM specification limits.

Physical capability checking mode (kinematic_physical_checker_config) The following table lists the configurable parameters of kinematic_physical_checker_config, their default values, and threshold descriptions used to verify that vehicle kinematic behavior does not exceed absolute physical capability limits or indicate unrealistic data.