28. Nav intersection family base

The nav_intersection_family_base consists of coverage and KPIs for all navigating intersection scenarios and is inherited by scenarios in which the Ego navigates through an intersection. The metrics can be identified by the prefix ftlx_. This is the base scenario for navigating intersection, inherited from nvdx_lib_base.

Coverage and KPIs that refer to the junction all use one junction chosen at the start of the scenario along the Ego's planned path. The scenario selects the first junction with complexity complex or other. If no junction meets this criterion, the scenario uses the first internal-road junction on that path instead.

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

28.1 Parameters

There are no input parameters

28.2 Metrics

Metrics collected are given below:

28.2.1 Coverage

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

28.2.2 KPI

Item	Description	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