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27. Drive in lane

The drive_in_lane scenario is used to evaluate the Ego's navigation through a drive-in-lane maneuver. It is inherited from drive_in_lane_family_base.

Scenario location: $FTX/env/nvidia/nvdx_lib/ftlx/drive_in_lane_family/drive_in_lane

27.1 Parameters

There are no input parameters

27.2 Metrics

Metrics collected are given below:

27.2.1 Coverage

[Click] The coverage items inherited from the sut.drive_in_lane_family_base scenario are as follows:
Item Description Range Unit/Type
ftlx_ego_lat_deviation_from_lane_center Root mean square of lateral offset from lane center during the in-lane drive [0..1.5), every: 0.1 m
ftlx_ego_avg_lane_width Average lane width over the in-lane drive interval [2..5), every: 0.5 m
ftlx_ego_min_lane_width Minimum lane width encountered during the in-lane drive [2..5), every: 0.5 m
ftlx_ego_max_lane_width Maximum lane width encountered during the in-lane drive [2..5), every: 0.5 m
ftlx_ego_lane_marking_type_outer Type of lane boundary marking to the right of the lane center at the start of the the Ego's in-lane drive none, solid, broken, solid_solid, solid_broken, broken_solid, broken_broken, botts_dots, grass, curb, edge line_kind
ftlx_ego_lane_marking_type_inner Type of lane boundary marking to the left of the lane center at the start of the the Ego's in-lane drive none, solid, broken, solid_solid, solid_broken, broken_solid, broken_broken, botts_dots, grass, curb, edge line_kind
ftlx_ego_std_dev_speed Standard deviation of the Ego's speed during the in-lane drive [0..10), every: 1.0 kph
ftlx_number_of_lanes_at_start Number of driving lanes at the start of the scenario [1..7), every: 1.0 int
ftlx_number_of_lanes_at_end Number of driving lanes at the end of the scenario [1..7), every: 1.0 int
ftlx_ego_start_lane_position Ego's start lane position (innermost, outermost, middle) innermost, outermost, middle lane_relative_side
ftlx_ego_end_lane_position Ego's end lane position (innermost, outermost, middle) innermost, outermost, middle lane_relative_side
ftlx_ego_max_lat_acceleration Maximum absolute lateral acceleration during the in-lane drive [0..5), every: 1.0 mpsps
[Click] The coverage items inherited from the sut.nvdx_lib_base scenario are as follows:
Item Description Range Unit/Type
ftlx_ego_speed_at_start Initial speed of the Ego at the start of the scenario [0..150), every: 10.0 kph
ftlx_ego_speed_at_end Final speed of the Ego at the end of the scenario [0..150), every: 10.0 kph
ftlx_ego_lane_width_at_start Width of the Ego's lane at the start of the scenario [2..5), every: 0.5 m
ftlx_ego_lane_width_at_end Width of the Ego's lane at the end of the scenario [2..5), every: 0.5 m
ftlx_ego_min_speed Minimum speed of the Ego during the scenario [0..150), every: 10.0 kph
ftlx_ego_max_speed Maximum speed of the Ego during the scenario [0..150), every: 10.0 kph
ftlx_ego_avg_speed Average speed of the Ego during the scenario [0..150), every: 10.0 kph
ftlx_ego_min_lon_acceleration Maximum deceleration of the Ego during the scenario [-10..0), every: 1.0 mpsps
ftlx_ego_max_lon_acceleration Maximum acceleration of the Ego during the scenario [0..20), every: 1.0 mpsps
ftlx_ego_maneuver_family L0 maneuver family of the Ego none, change_lane, drive_in_lane, keep_long_distance, merge_diverge_handling, nav_intersection, nudge, nav_construction maneuver_family_type

27.2.2 KPI

[Click] The KPIs inherited from the sut.nvdx_lib_base scenario are as follows:
Item Description Range Unit/Type
ftlx_ego_distance_traveled_during_interval Total distance traveled by the Ego during the interval m
ftlx_interval_duration Duration of the interval s
is_finished Indicates if the interval ended with a valid Ego state true, false bool
is_sampled Indicates if the Ego state was valid at every sample point during the interval true, false bool
is_started Indicates if the interval started with a valid Ego state true, false bool
is_valid_lane_position_at_start Indicates if the Ego's map position matched its closest lane at interval start true, false bool
is_valid_lane_position_at_end Indicates if the Ego's map position matched its closest lane at interval end true, false bool
is_valid_lane_position_at_interval Indicates if the Ego's map position matched its closest lane at every point during the interval true, false bool