{
  "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"
      ]
    }
  ]
}