Using the Model in Practice

This workflow is based on the GeoScenario Server and the reference implementation for the SDV Model. We will use the cut-in lane change NHTSA scenario as an example.

Scenario description: In the cut-in lane change scenario, a vehicle is changing lanes at a non-junction in front of another vehicle traveling in a parallel lane driving in the same direction. After the maneuver, the vehicle becomes the leading vehicle. Cut-in maneuvers from other drivers pose challenges to the ADS, and if not handled properly can expose the vehicle and passengers to crashes and serious injuries (including critical and fatal). The goal of this test is to evaluate the ADS capabilities with handling cut-ins from other vehicles, so we model this scenario with Ego as the trailing vehicle and the SDV as the lane-changing (then leading) vehicle.

The first step is to find a suitable map location for the scenario. In this case, we use a straight 4-lane road.

In the geoscenario layer, we add the origin and gsconfig elements. Two vehicles are placed on the initial segment of the road and are assigned to respective routes driving towards the same direction. We want both vehicles driving in paralell during the lane-change.

For the SDV vehicle, we assign the behavior type btype=SDV, and a behavior tree st_cut_in_ego.btree. At line 4, we add a condition to start a maneuver only after 4 secondssimtime(tmin=4). This will allow both vehicles to start driving and reach the target driving speeds. In line 6, the condition tests if the desired gap of 5 meters was reached on the right lane (-1) gap(target_lane=-1, range=False). If true, the vehiel will star the lane change targeting 5 meters ahead of vehicle and relative velocity of -3 m/s delta_s(5,-3,0)

During execution, the vehicle will perform the cut-in maneuver only if the gap is reached.