File size: 4,631 Bytes
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"scenario_type": "priority_road",
"predicate_config": {
"near_dist": 15.0,
"close_dist": 8.0,
"very_close_dist": 4.0,
"jurisdiction": "DE",
"permits_curb_turn_on_red": false,
"requires_complete_stop_first": true
},
"specs": [
{
"name": "priority_road_violation",
"formula": "\u25c7 (at_intersection(ego, I) \u2227 at_intersection(adv, I) \u2227 approaching(ego, I) \u2227 approaching(adv, I) \u2227 right_of(adv, ego) \u2227 priority_road(ego) \u2227 \u00acstopped(adv) \u2227 \u00acyielding_to(adv, ego))",
"category": "violation",
"temporal_op": "eventually",
"involved_predicates": [
"at_intersection",
"approaching",
"right_of",
"priority_road",
"stopped",
"yielding_to"
]
},
{
"name": "ego_respects_red",
"formula": "\u25a1 (facing(ego, TL) \u2227 light_color(TL, red) \u2227 at_intersection(ego, I) \u2192 stopped(ego))",
"category": "nominal",
"temporal_op": "always",
"involved_predicates": [
"facing",
"light_color",
"at_intersection",
"stopped"
]
},
{
"name": "ego_respects_stop_sign",
"formula": "\u25a1 (has_stop_sign(ego) \u2192 \u25c7 stopped(ego))",
"category": "nominal",
"temporal_op": "always",
"involved_predicates": [
"has_stop_sign",
"stopped"
]
},
{
"name": "ego_yields_pedestrian",
"formula": "\u25a1 (type(P, pedestrian) \u2227 at_crosswalk(P) \u2227 near(ego, P) \u2192 yielding_to(ego, P))",
"category": "nominal",
"temporal_op": "always",
"involved_predicates": [
"at_crosswalk",
"near",
"yielding_to"
]
},
{
"name": "ego_stays_in_lane",
"formula": "\u25a1 (on_road(ego))",
"category": "nominal",
"temporal_op": "always",
"involved_predicates": [
"on_road"
]
},
{
"name": "ego_correct_direction",
"formula": "\u25a1 (\u00acwrong_way(ego))",
"category": "nominal",
"temporal_op": "always",
"involved_predicates": [
"wrong_way"
]
},
{
"name": "defend_collision_course",
"formula": "\u25a1 (on_collision_course(ego, A) \u2192 \u25c7 (braking(ego) \u2228 \u00acon_collision_course(ego, A)))",
"category": "defensive",
"temporal_op": "always",
"involved_predicates": [
"on_collision_course",
"braking"
]
},
{
"name": "ic_light_color_rg",
"formula": "\u25a1 \u00ac(light_color(TL, red) \u2227 light_color(TL, green))",
"category": "integrity",
"temporal_op": "always",
"involved_predicates": [
"light_color"
]
},
{
"name": "ic_light_color_ry",
"formula": "\u25a1 \u00ac(light_color(TL, red) \u2227 light_color(TL, yellow))",
"category": "integrity",
"temporal_op": "always",
"involved_predicates": [
"light_color"
]
},
{
"name": "ic_light_color_gy",
"formula": "\u25a1 \u00ac(light_color(TL, green) \u2227 light_color(TL, yellow))",
"category": "integrity",
"temporal_op": "always",
"involved_predicates": [
"light_color"
]
},
{
"name": "ic_direction_mutex_fb",
"formula": "\u25a1 \u00ac(behind(A, B) \u2227 in_front_of(A, B))",
"category": "integrity",
"temporal_op": "always",
"involved_predicates": [
"behind",
"in_front_of"
]
},
{
"name": "ic_direction_mutex_lr",
"formula": "\u25a1 \u00ac(left_of(A, B) \u2227 right_of(A, B))",
"category": "integrity",
"temporal_op": "always",
"involved_predicates": [
"left_of",
"right_of"
]
},
{
"name": "ic_kinematic_stop_accel",
"formula": "\u25a1 \u00ac(stopped(A) \u2227 accelerating(A))",
"category": "integrity",
"temporal_op": "always",
"involved_predicates": [
"stopped",
"accelerating"
]
},
{
"name": "ic_kinematic_brake_accel",
"formula": "\u25a1 \u00ac(braking(A) \u2227 accelerating(A))",
"category": "integrity",
"temporal_op": "always",
"involved_predicates": [
"braking",
"accelerating"
]
},
{
"name": "ic_lane_mutex",
"formula": "\u25a1 \u00ac(same_lane(A, B) \u2227 adjacent_lane(A, B))",
"category": "integrity",
"temporal_op": "always",
"involved_predicates": [
"same_lane",
"adjacent_lane"
]
}
]
} |