25. Lane change

The lane_change scenario is used to evaluate the Ego's lane change maneuver. It is inherited from lane_change_family_base.

Scenario location: $FTX/env/nvidia/nvdx_lib/ftlx/lane_change_family/lane_change

25.1 Parameters

There are no input parameters

25.2 Metrics

Metrics collected are given below:

25.2.1 Coverage

[Click] The coverage items inherited from the sut.lane_change_family_base scenario are as follows:

Item	Description	Range	Unit/Type
`ftlx_number_of_lanes_at_start`	Total number of lanes in the same direction available at lane change initiation	[1..7), every: 1.0	int
`ftlx_number_of_lanes_at_end`	Total number of lanes in the same direction available at lane change completion	[1..7), every: 1.0	int
`ftlx_lane_change_side`	Direction of lane change based on lateral displacement relative to the curb, independent of lane indices. inner_side indicates movement away from the curb, towards the road center, while outer_side indicates movement towards the curb. The lane change side is determined by the lateral displacement of the Ego relative to the curb.	inner_side, outer_side	lane_mark_side
`ftlx_ego_start_lane_position`	Starting lane position (innermost, outermost, middle)	innermost, outermost, middle	lane_relative_side
`ftlx_ego_end_lane_position`	Destination lane position (innermost, outermost, middle)	innermost, outermost, middle	lane_relative_side
`ftlx_lane_change_duration`	The duration of the lane change interval	[2..10), every: 1.0	s
`ftlx_ego_max_lat_acceleration`	Highest absolute lateral acceleration during lane change	[0..5), every: 1.0	mpsps
`ftlx_ego_std_dev_lat_acceleration`	Higher standard deviations indicate rougher maneuvering	[0..5), every: 1.0	mpsps
`ftlx_ego_std_dev_speed`	Higher standard deviations indicate significant speed changes during the lane change	[0..10), every: 1.0	kph
`ftlx_ego_lat_displacement_during_lane_change`	Lateral distance relative to the initial positioning of the Ego on the lane	[1..10), every: 1.0	m

[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

25.2.2 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