24. Lane change family base

The lane_change_family_base consists of coverage and KPIs for all lane change scenarios and is inherited by scenarios in which the Ego performs a lane change maneuver. The metrics can be identified by the prefix ftlx_. This is the base scenario for lane change, inherited from nvdx_lib_base.

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

24.1 Parameters

There are no input parameters

24.2 Metrics

Metrics collected are given below:

24.2.1 Coverage

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

24.2.2 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

24.2.3 Cross coverage items

The test execution data for the combination of multiple coverage items is as follows:

Item	Description	Referred coverage items
`cross_ftlx_ego_speed_at_start_ftlx_lane_change_side`	Cross of the speed of Ego at start and the side of lane change	ftlx_ego_speed_at_start, ftlx_lane_change_side
`cross_ftlx_ego_max_lat_acceleration_ftlx_ego_distance_traveled_during_lane_change`	Cross of the maximum lateral acceleration of Ego and the distance it traveled during the lane change	ftlx_ego_max_lat_acceleration, ftlx_ego_distance_traveled_during_lane_change
`cross_ftlx_ego_start_lane_position_ftlx_lane_change_side_ftlx_ego_end_lane_position`	Cross of the starting lane position of Ego, the side of lane change and end lane position of Ego	ftlx_ego_start_lane_position, ftlx_lane_change_side, ftlx_ego_end_lane_position
`cross_ftlx_number_of_lanes_at_start_ftlx_lane_change_duration`	Cross of the number of lanes at start and the duration of lane change	ftlx_number_of_lanes_at_start, ftlx_lane_change_duration
`cross_ftlx_number_of_lanes_at_start_ftlx_lane_change_duration_ftlx_number_of_lanes_at_end`	Cross of the number of lanes at start, the duration of lane change, and the number of lanes at end	ftlx_number_of_lanes_at_start, ftlx_lane_change_duration, ftlx_number_of_lanes_at_end
`cross_ftlx_ego_speed_at_start_ftlx_lane_change_duration`	Cross of the speed of Ego at start and the duration of lane change	ftlx_ego_speed_at_start, ftlx_lane_change_duration
`cross_ftlx_ego_max_speed_ftlx_lane_change_duration`	Cross of the maximum speed of Ego and the duration of lane change	ftlx_ego_max_speed, ftlx_lane_change_duration
`cross_ftlx_ego_min_speed_ftlx_lane_change_duration`	Cross of the minimum speed of Ego and the duration of lane change	ftlx_ego_min_speed, ftlx_lane_change_duration