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Last active April 1, 2024 14:58
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Scenario Selector urban ODD
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scenario.md

Scenario

trial2

LEO-UC-A-06-00 -> Rear-to-Front Vehicle Crossover

Initial condition

  • EGO is running at Ve. There is a motorcycle behind the EGO at Vn.

Action

  • A motorcycle comes from the rear, overtakes EGO, and integrates into EGO's forward trajectory, positioning itself directly in front of EGO.

Success condition

  • EGO does not sudden brake
  • EGO reaches the destination

Failure condition

  • Collide with NPC

Variables

  • Ve: [30, 20, 10] km/h
  • Vn: Ve * 1.2 km/h

Limitations:

  1. If the NPC was located behind the EGO and it should overtake the ego, the velocity of the NPC was limited.

  • EGO Velocity limited to 15 kph - NPC Should drive around 36 kph.

  • Scenario Simulator automatically slow downs the NPC speed.

Video:

limited_velocity.mp4
  1. Created multiple overlapped lanes to drive the NPC on them when it was behind the EGO as shown below:

ss

  • To be able to run NPC faster, I divided the lanes. NPC starts behind the vehicle, after it overtakes the EGO, it starts the lane change action. However, lane change action did not work.

Video:

sc-1-2024-04-01_15.42.49.mp4
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brkay54 commented Apr 1, 2024 •
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For scenarios and maps: link

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