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29. Nav intersection

The nav_intersection scenario is used to evaluate the Ego's navigation through a navigation intersection. It is inherited from nav_intersection_family_base.

Scenario location: $FTX/env/nvidia/nvdx_lib/ftlx/nav_intersection_family/nav_intersection

29.1 Parameters

There are no input parameters

29.2 Metrics

Metrics collected are given below:

29.2.1 Coverage

[Click] The coverage items inherited from the sut.nav_intersection_family_base scenario are as follows:
Item Description Range Unit/Type
ftlx_has_stop_sign Whether there is a stop sign in the intersection true, false bool
ftlx_has_traffic_light Whether there is a traffic light in the intersection true, false bool
ftlx_traffic_light_color_change Traffic light color change green_to_yellow, green_to_red, yellow_to_red, red_to_green traffic_light_color_change
ftlx_ego_traversal_direction Ego traversal direction during the scenario other, straight, slight_right, right, sharp_right, backwards, sharp_left, left, slight_left direction
ftlx_ego_traversal_type Traversal protection type through the junction protected, unprotected, protected_to_unprotected, unprotected_to_protected, missing_traffic_light_state traversal_type
ftlx_ego_incoming_leg_number_lanes Number of parallel driving lanes on the Ego's road when the scenario starts [1..7), every: 1.0 int
ftlx_junction_number_incoming_legs Number of incoming legs to the junction along the path at scenario start [0..10), every: 1.0 int
ftlx_junction_number_outgoing_legs Number of outgoing legs from the junction when the scenario starts [0..10), every: 1.0 int
ftlx_intersection_type Junction type from unique leg headings four_way, t_junction, y_junction, other intersection_type
[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

29.2.2 KPI

[Click] The KPIs inherited from the sut.nav_intersection_family_base scenario are as follows:
Item Description Range Unit/Type
ftlx_distance_to_stop_line_at_start Distance from the Ego to the stop sign at scenario start m
ftlx_distance_to_traffic_light_at_start Distance from the Ego to the traffic light at scenario start m
ftlx_junctions_passed_count Number of junctions the Ego traversed during the scenario int
ftlx_ego_in_junction_start_time Time when the Ego entered the selected junction interior s
ftlx_ego_in_junction_end_time Time when the Ego left the selected junction s
ftlx_junction_id Junction id selected at scenario start int
[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