Scenario Specification for the Sensitivity Phase 1 of the ...€¦ · Web viewOne building or parking lot on the left side of the road, onto which a vehicle can turn left. At least

Scenario Specification for the Sensitivity Phase 1 ofthe BAC Baseline Project

(C) Copyright 2003 by National Advanced Driving Simulator & Simulation Center, The University of Iowa and The University of Iowa. All rights reserved.

Document: N03-??-V6 Last revision: August 27, 2003Created: 7/31/2003 11:05 AM Revision Author: Omar Ahmad, Sunil

Bulusu, Yiannis Papelis

1. SCENARIO AND VIRTUAL ENVIRONMENT OVERVIEW

The road network for the Urban/Arterial database (UAD) is oriented in the North/South direction. It consists of a main four lane road and various side routes, all of which are loops leading back to the main street. Figure 1 illustrates a top down map of the whole route.

Figure 1 - Route overview.

The UAD consists of three repeating segments as shown in Figure 1. Each segment is separated from the next by two shallow curves, one left and one right.

A closer view of one of the repeating segments is shown in Figure 2. Illustrated are also the intersections as well as areas in the database where parking spaces are located.

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Figure 2 – One of the three repeating segments.

Speed limit signs are placed throughout the route and establish the speed limit as 45 mph.

In addition to the repeating segments, two loops are provided on the North and South end of the route. The loops are identical, except their orientation. Figure 3 illustrates a closeup of the South loop.

Figure 3 – South loop.

There will be three scenarios tested for the sensitivity phase of the BAC project. Each scenario takes place while the participant travels along various routes all of which fall within one of the three repeating segments of the UAD. Eventually, these three scenarios will be combined into other composite scenarios each involving travel along all three repeating segments. However, for the sensitivity testing portion of the project, each of the three scenarios will take place in the vicinity of segment 1, the south-most segment.Each scenario consists of a series of events that involve some interaction between the participant and the roadway or other scenario vehicles. The following sections describe the series of events for each scenario along with the associated data reduction measures. Note that the event specifications often contain a lot of information on any assumptions made regarding the actions or inactions of the driver, along with potential unsuccessful outcomes. An unsuccessful outcome may occur when the operationalization of an event provides the participant with choices that allow bypassing or circumventing the event. In general, it is best to author an event such that the driver is forced to deal with the situation that allows collection of the necessary dependent measures. However, events are often authored such that a given driver has the choice of acting in a way that circumvents the event. For example, consider an event that requires the driver to make a lane change. One way to author this event is to place crash barrels, or other road obstructions, so that the driver has no choice but perform a lane change. Another way to author this event is to force a lead vehicle to slow down, thus giving significant incentive to the driver, but not actually force the driver to make the lane change. When using the former method, the driver is almost certain to make lane change, whereas when using the latter method, the driver may elect to remain behind the slowing vehicle. Even in the fist example, a driver could elect to go straight and collide with the barrels. On one hand, the collision itself may be a measure, in which case, it was obtained successfully. At the same time, the likelihood of such behavior is low enough that when it happens, it can be dealt on a case by case basis.Note that the notion of successful or unsuccessful outcome of a scenario is tightly linked to the performance variables that will be measured in association with the event. Naturally, when measuring decision making, the actual driver choice is what is measured and there is no unsuccessful outcome per-se, however, when reaction time is the intended measure, bypassing an event eliminates the stimuli against which a response is to be timed from. In the example given above, the first authoring method provides little in terms of decision making data but allows measuring lane change behavior (i.e., maximum steering etc.). On the other hand, the second authoring method provides decision making information, but if the intent is to obtain lane change behavior, there is a possibility for the event to be unsuccessful.Given this background, the specification of events and associated performance measures is provided together. Assumptions and potential outcomes are listed for scenario events that

depend on the participant’s actions for successful outcomes. For such events, the “exit” strategy from an event when it is unsuccessful is also discussed. The goal of breaking down the specification in these components is to allow specification independent of order. This in turn, allows proper testing of each event in isolation, which in turn facilitates rapid development of scenarios involving multiple sequences of the same basic events. Each event is provided in a table containing six separate sections. The Baseline section provides the conditions necessary for the event operationalization to be successful. It also contains assumptions about the initial conditions of other traffic, the roadway geometry or any other aspect of the scenario that is necessary for successful completion. In general, this section is not too constraining and only contains necessary conditions for the event to occur. Typically the baseline section will contain the necessary road geometry, signage, or scenario vehicles necessary for the upcoming event.The Preparation section describes any actions that have to be taken in order to setup the event. This may involve picking a scenario vehicle to implement an interaction, preparing the traffic lights or other similar activities. As in any specification method, it is possible for certain elements to be specified either in the baseline section or the preparation section. For example, consider a lead vehicle braking scenario. One way to specify is to list the requirement in the baseline while another way may include nothing in the baseline but include the vehicle creation in the preparation section. Such differences may affect the generalizability and portability of the scenario.The Actual event section describes the event in detail. Any quantitative variables are also provided, along with their tolerances.The Cleanup section describes what happens following the event. This section generally includes multiple variations, one for each possible outcome after an event. The idea behind this section is that after the cleanup the virtual environment is left in a consistent state that is independent of the participant’s actions.The Reduction Measures section describes the data reduction measures that are to be used for analyzing the event. Finally, the section titled Notes provides a placeholder for general discussion or where concerns or comments regarding the event can be documented.

2. SCENARIO 1

2.1.RouteThis scenario takes place in an urban setting and presents several smooth 90 degree curves to the participant. Figure 4 displays the route that the participant will take through the database. The route starts in the Southwestern loop and makes it way across the town area to expose the participant to as many curves as possible. The scenario ends in the road that connects the first segment to the second segment.

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Figure 4 – Scenario 1.

2.2.Event SequenceEach bullet describes an event of significance during the drive. Text immediately after the bullet is the title of the event. Use the title to lookup the corresponding specification later. The number in parenthesis after the title is the ordinal number of that event. Text in bracket at the end of each description reflects the corresponding title used for that event in the Prioritization table of events. In general, there will be traffic traveling on the same direction as the participant as well as the opposite direction. However, unless explicitly specified there will be no forced interactions between scenario traffic and the participant.

Start Position: The start position is approximately 350 feet from the traffic light as shown in Figure 4. The driver can start at their own pace.

Speed Limit Change (1):Speed limit sign located right after the start position establishes the speed limit at 15. If any scenario vehicles are leading, they will ignore the speed limit change to ensure the participate is not forced to slow down due to following. [Speed limit 15 mph].

Red Light (1):Arrive at traffic light, light is already red. Light stays red for 30 seconds.

Curve 90 (1):Follow road along the 90 curve to the right [Curve 90 deg]

Green Traffic Light (1):Arriving at Intersection A. Traffic light is green. [Intersection signaled].

Speed Limit Change (2):Speed limit sign located after the intersection establish the speed limit at 35mph. If any scenario vehicles are leading, they will ignore the speed limit change to ensure the participate is not forced to slow down due to following. [Speed limit 35 mph].

Curve 90 (2):Follow road along the 90 curve to the left [Curve 90 deg]

Parked vehicle (1):Vehicle placed at the start of the curve. Vehicle is placed on the curb next to the right lane as shown in Figure 5.

Parked vehicle (2):Vehicle placed at the end of the curve. Vehicle is placed on the curb next to the right lane as shown in Figure 5.


Parked vehicle (3):Vehicle placed at the midpoint of the curve. Vehicle is placed on the curb next to the right lane as shown in Figure 5.


Parked vehicle (4):Vehicle placed at the after the curve. Vehicle is placed on the curb next to the right lane as shown in Figure 5.



Parked vehicle (5):Vehicle placed at the start of the curve. Vehicle is placed on the curb next to the right lane as shown in Figure 5.




Speed Limit Change (3):Speed limit sign located after the curve establish the speed limit at 20mph. If any scenario vehicles are leading, they will ignore the speed limit change to ensure the participate is not forced to slow down due to following. [Speed limit 20 mph].

Yellow Light Dilemma (1):need details here





Single Lane Change – Stopped Lead Vehicle (1):A stopped bus in the right lane forces the driver to change lanes. [Lane change (single)].




Red Light (2):Arrive at traffic light at intersection F, light is already red. Light stays red for 30 seconds.


Single Lane Change – Stopped Lead Vehicle (2):A stopped vehicle in the left lane forces the driver to change lanes. [Lane change (single)].

Construction Zone Oncoming Incursion (1):A blocked right lane in the construction zone forces the participant to change lanes to the left. As the construction zone ends and the right lane opens up, oncoming vehicles are traveling partially in the left lane, thus forcing the participant to make a maneuver to avoid them. The participant may either swerve or make a lane change to the right.

End of segment 1.

2.3.Parked Vehicle PositionsFigure 5 shows examples of parked vehicles placed on the side of the road.

Figure 5 – Parked vehicles in Scenario 1.

3. SCENARIO 2

3.1.RouteThis scenario starts on the south loop of the database and makes it way up North thru segments 1 and 2 of the UAD initially presented in Figure 1. The participant is given an opportunity to drive relatively fast through slow moving traffic on a straight road. The scenario terminates at the end of 2nd segment. Below depicts the route the participant drives through.

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Figure 6 – Scenario 2

3.2.Event SequenceEach bullet describes an event of significance during the drive. Text immediately after the bullet is the title of the event. Use the title to lookup the corresponding specification later. The number in parenthesis after the title is the ordinal number of that event. Text in bracket at the end of each description reflects the corresponding title used for that event in the Prioritization table of events. In general, there will be traffic traveling on the same direction as the participant (Northbound) as well as the opposite direction. However, unless explicitly specified there will be no forced interactions between scenario traffic and the participant.

Start Position : The start position is at the starting of south-most loop. The participant has to maintain a speed range of 55-65 mph all through the scenario.

Lane Change onto Non-Passing Lane (1) (Segment – 1):After the participant starts to accelerate in the non-passing lane, a slow moving vehicle makes a lane change in front of the participant.

Badly Parked Vehicle (1) (Segment – 1):As the participant drives towards a 3-way intersection, the participant observes a vehicle parked partially onto the right lane of main road.

Traffic on side-street turns Left onto main road (1) (Segment – 1):As the participant closes in on the 3-way intersection, a vehicle on the side street makes a left turn in front of the participant.

Cross Traffic from Right (1) (Segment – 1):As the unsuspecting driver approaches the 4-way intersection, a vehicle pulls out from the cross street and speeds past straight through the intersection, forcing the driver into a sudden braking maneuver.

Badly Parked Vehicle (2) (Segment - 2):As the participant drives towards a 3-way intersection, the participant observes a vehicle parked partially onto the right lane of main road.

Traffic on side-street turns Left onto main road (2) (Segment - 2):As the participant closes in on the 3-way intersection controlled by a stop sign, a vehicle on the side street makes a left turn in front of the participant.

Traffic on side-street turns Left onto main road (3) (Segment – 2):As the participant closes in on the 3-way intersection, a vehicle on the side street makes a left turn in front of the participant.

Oncoming Left Turn (1) (Segment – 2):A vehicle, displaying left turn signals, arrives at the event intersection needing to make a left turn onto the side street. As the participant closes in towards the intersection, the stopped oncoming vehicle finds a gap and tries to execute a left turn. Sighting participant in the oncoming lane, the vehicle forces itself to a stop right in front of the participant.

Traffic Lights Green (ALL):All traffic lights are forced to green throughout this event

3.3.Start PositionThe starting location is shown in Figure 7.

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Figure 7 – Start of Scenario 2.

4. SCENARIO 3

4.1.RouteFigure 8 displays the route that the participant will take through the database. The route starts at about 1/3rd of the way along Highway 1 and ends at about 1/3rd of the way along Highway 4. In this scenario, the 3 segments are ordered as follows: baseline, call 1 and call 2.

Figure 8 – Scenario 1.

4.2.Event SequenceEach bullet describes an event of significance during the drive. Text immediately after the bullet is the title of the event. Use the title to lookup the corresponding specification later. The number in parenthesis after the title is the ordinal number of that event. Text in bracket at the end of each description reflects the corresponding title used for that event in the Prioritization table of events. In general, there will be traffic traveling on the same direction as the participant as well as the opposite direction. However, unless explicitly specified there will be no forced interactions between scenario traffic and the participant.

Start Position: The start position is approximately 1/3rd of the way along Highway 1. The drive is parked along the side of the highway and has to wait until the first red vehicle passes by in the lane closest to the driver. At that point, the driver has a few seconds to pull out. If the driver does not pull out in time, or pulls out too soon, the scenario must be restarted to function properly. After the participant pulls out, vehicles are continually created behind the participant for a few seconds in order to establish a cloud of traffic around the participant.

Baseline Segment: Benign Lane Change (1) Lane Change Cut-In (1) Lead Vehicle Brake (1) Follow Lead Vehicle (1) Highway Merge (1):

This event takes the participant from Highway 1 onto Highway 2. Benign Lane Change (2) Fake Hover (1) No Event (1) Benign Lane Change (3)Call 1 Segment: No Event (2) Lead Vehicle Brake (2) Follow Lead Vehicle (2) Highway Merge (2):

This event takes the participant from Highway 2 onto Highway 3. Benign Lane Change (4) Fake Hover (2) Benign Lane Change (5)Call 2 Segment: No Event (3) Benign Lane Change (6) Lane Change Cut-In (2) Follow Lead Vehicle (3) Highway Merge (3):

This event takes the participant from Highway 3 onto Highway 4. Benign Lane Change (7)

EVENT DESCRIPTIONS

4.1.Yellow Light – Late

Yellow Light - Late

Baseline Operational traffic light on a four way intersection. Utilizes a uniform cycle of 60 seconds green, 10 seconds yellow, 60 seconds red.

Preparation Traffic light becomes green as the driver approaches the intersection. That should happen at about 30 seconds arrival time, that way it provides plenty of “green” time before it auto-switches to yellow.Must ensure that no other vehicles are traveling side by side with the driver, so the driver’s reaction is not affected by what other cars do.

Actual event Traffic light becomes yellow when the participant’s time to arrival to the threshold line is X seconds. The actual time X is such that the driver has no time to stop. The light will turn red N seconds after turning yellow.

Cleanup It is expected that the driver will go through with yellow. If the driver slams on the brakes and actually stops before the threshold, they will have to wait the 60 second red cycle before continuing.

Perf. Measures TBD

Notes

4.2.Curve 90

Curve 90

Baseline Roadway has 90 degree curve. Note this is not a 90 degree turn on an intersection, just a curve. The radius of curvature is as follows:Inner most lane: 220 ftSecond inner most lane: 232 ftThird inner most lane: 244 ftOuter most lane: 256 ft

Preparation None.

Actual event Driver follows path leading through the curve.

Cleanup None.

Perf. Measures TBD

Notes

4.3.Speed Limit Change

Speed Limit Change

Baseline Prior signage has established the speed limit at something other than what will be indicated. Some traffic around (preferably ahead) of driver.

Preparation Ensure sign is on the right position along the road.

Actual event Driver drives by the sign. Surrounding traffic ignores the speed limit to ensure that driver is not forced to change due to other vehicle actions.

Cleanup None.

Perf. Measures

Notes

4.4.Shallow Curve

Shallow Curve

Baseline Roadway has shallow curve (> 1000 ft. radius of curvature)

Preparation None.

Actual event Driver follows path leading through the curve.

Cleanup None.

Perf. Measures TBD

Notes

4.5.Parked Vehicle

Parked Vehicle

Baseline A parked vehicle on the side of the street. Variations of the scenario may require the parked vehicle to be on the curb, or on a proper parking spot.

Preparation None.

Actual event Driver drives by the parked vehicle.

Cleanup None.

Perf. Measures TBD

Notes

4.6.Cross Traffic – Traffic Light

Cross Traffic – Traffic Light

Baseline Four way intersection with traffic light with turn pockets (see Figure X). The light is green as driver approaches. Oncoming traffic goes straight so that turn pocket for traffic that would conflict with participant is empty.

Preparation Pick one of the oncoming traffic elements to act as the vehicle that will turn left in front of the driver.Ensure that no other traffic is ahead of the driver so no collisions among scenario vehicles are possible.

Actual event Oncoming scenario vehicle slows down to turn left. Its turn signals are on. It appears to be stopping to yield to participant who actually has the right of way. When participant reaches a certain TTA to point X in the intersection (see Figure X), the scenario vehicle proceeds to the left turn cutting of the participant.

Cleanup Normal outcome involves the participant braking to avoid the collision. In that case, the scenario traffic proceeds with its turn and eventually becomes irrelevant. The participant continues past the intersection.In case of collision, the scenario vehicle proceeds along its path, behaving similar to the normal outcome.

Perf. Measures TBD

Notes

4.7.Green Traffic Light

Green Traffic Light

Baseline Four way intersection with traffic lights. Oncoming traffic goes straight so that there is no interaction with participant.

Preparation Traffic light becomes green when driver can see the light.

Actual event Traffic light remains green. Driver goes though.

Cleanup None.

Perf. Measures TBD

Notes

4.8.Single Lane Change – Traffic Backed Up

Single Lane Change – Traffic Backed Up

Baseline Right turn encountered on a road with multiple lanes. Driver is on the rightmost lane. There is plenty of traffic ahead of the driver on both lanes, including a bus located a few vehicles ahead.

Preparation Ensure a specific number of cars exist between the driver and the bus on the right lane. Can be implemented by creating vehicles ahead of the lead (where they are not visible), or by forcing lane changes.If there is a traffic light on the intersection, ensure it is green and remains green for the duration of the interaction.Lead vehicle puts right turn signal on indicating its intention of turning.There are no vehicles on the left lane behind the driver.

Actual event Bus and all other traffic behind the bus and ahead of participant turn right. The bus stops causing the rest of the traffic to stop. See Figure 5 for a top-down illustration.The vehicle ahead of the driver performs a lane change in order to avoid getting stuck behind the backed up traffic.The driver performs a lane change to the left toa void getting stuck behind the backed up traffic.

Cleanup After a few (15 ?) seconds of remaining stopped, the bus starts up, allowing the backed up traffic to complete their turn. Eventually all traffic that turned right becomes irrelevant.If the driver makes the lane change, no other action is necessary.If the driver does not make the lane change, they wait until the backed up traffic clears and can continue.

Perf. Measures TBD

Notes It is unclear how to ensure that participant is on the right lane to start with.

Figure 9 – Lane change left illustration.

4.9.Single Lane Change – Slow Lead Vehicle

Single Lane Change – Slow Lead Vehicle

Baseline Road with two lanes going the same direction.Two vehicles ahead of driver, one on each lane.

Preparation The lead vehicle (on either lane) gradually slows down to 5 mph and puts on its emergency flash signals.

Actual event Driver changes lanes to bypass the slow lead vehicle

Cleanup After the driver passes, the lead vehicle proceeds normally.If the driver does not make a lane change, then after a time-out has expired, the lead vehicle proceeds normally.

Perf. Measures

Notes This event works no matter which lane the driver is on.

4.10. Slow Traffic Ahead

Slow Traffic Ahead

Baseline Road with two lanes going the same direction.Two vehicles ahead of driver, one on each lane.

Preparation

Actual event The lead vehicle (on either lane) slows down to a speed 35% below the participants at a specified deceleration rate.The brake lights come on and remain lit while the slow down takes place.

Cleanup Following the event, the lead vehicle releases the brakes and proceeds normally.

Perf. Measures

Notes

4.11. Yellow Traffic Light – Enough Time

Yellow Traffic Light – Enough Time

Baseline Operational traffic light on a four way intersection. Utilizes a uniform cycle of 60 seconds green, 10 seconds yellow, 60 seconds red.

Preparation Traffic light becomes green as the driver approaches the intersection. That should happen at about 30 seconds arrival time, that way it provides plenty of “green” time before it auto-switches to yellow.Must ensure that no other vehicles are traveling side by side with the driver, so the driver’s reaction is not affected by what other cars do.

Actual event Traffic light becomes yellow when the participant’s time to arrival to the threshold line is X seconds. The actual time X is such that the driver has plenty of time to stop. The light will turn red N seconds after turning yellow.

Cleanup It is expected that the driver will stop at the traffic light. If the driver ignores the yellow light, they will either run the red light or have to slam on their brakes the last instant. Either way, there should be no collisions or adverse effects.

Perf. Measures

Notes

4.12. Double Lane Change – Slow/Stopped Traffic

Double Lane Change – Slow/Stopped Traffic

Baseline Road with two lanes going the same direction.Participant traveling on the right lane.One intersection that allows feeding a bus so it can be ahead of the driver, and also allows following vehicles to disappear so they don’t interfere with the driver’s lane change.One building or parking lot on the left side of the road, onto which a vehicle can turn left.At least one more vehicle ahead of the driver to act as the left obstruction.

Preparation Ensure no other vehicles between the participant and bus ahead.Ensure no vehicles on the blind spot or on the left lane behind the participant. They can turn left/right at the intersection before the event.Ensure continuous stream of oncoming traffic prevents left turning vehicle from actually turning.

Actual event Bus puts on blinkers, slowly comes to a stop. Vehicle on left lane ahead puts left turn signal on, comes to a stop leaving enough gap for the participant to perform a left lane change followed by a right lane change and avoid getting stuck behind the bus.

Cleanup If the driver performs the double lane change, they will pass the stopped vehicle on the right. A few seconds after that point, both the bus and stopped vehicle will turn off their signals and proceed normally.If the driver does not perform the double lane change, or they perform a single lane change, they will come to a stop behind the bus or behind the car on the left lane. After a timeout of X seconds, both vehicles get released and proceed normally.

Perf. Measures

Notes If necessary, a vehicle between driver and bus can be used to “suggest” to the driver the double lane change by doing it itself.

4.13. Construction Zone Oncoming Incursion

Construction Zone Oncoming Incursion

Baseline Road with two lanes going the same direction.Participant traveling on the right lane.A construction zone on the participant’s side that blocks the right lane and a construction zone on the oncoming lane also blocking the right lane and some of

the left lane.Vehicles in the oncoming lane.

Preparation Ensure that there are no vehicles in the participant’s blind spot so that he can easily change lanes to the left as he approaches the blocked right lane in the construction zone.Ensure that there is a vehicle behind the participant.Ensure continuous stream of oncoming traffic.

Actual event As oncoming vehicles reach the construction zone, they move over to the left so that they encroaching on the participant’s lane with half of their width.

Cleanup Delete the oncoming vehicle after they have gone past the driver.

Perf. Measures TBD

Notes

Figure 10 – Construction zone oncoming incursion.

4.14. Faster Traffic Behind

Faster Traffic Behind

Baseline Road with two lanes going the same direction.Participant traveling on the left lane.A vehicle behind the participant in the left lane.

Preparation Ensure that there are no vehicles in the participant’s blind spot so that he can easily change lanes to the right.Ensure that there is a vehicle behind the participant a distance of about 500 feet.Ensure continuous stream of oncoming traffic.

Actual event The vehicle immediately behind the participant quickly closes the gap between itself and the participant.

Cleanup The fast moving vehicle goes past the participant and becomes part of the baseline traffic.

Perf. Measures TBD

Notes

4.15. Lane Change onto Non-Passing lane

Lane Change onto Non-Passing lane

Baseline Road with two lanes going the same direction.Participant traveling on the left lane.A vehicle traveling in front of the participant in the right most lane.

Preparation None

Actual event As the participant accelerates in the left lane, the vehicle in the right lane makes a lane change onto the left lane in front of the participant.

Cleanup After the participant makes a right lane change and speeds past, the vehicle makes left turn at the oncoming intersection.

Perf. Measures TBD

Notes

4.16. Badly Parked Vehicle

Badly Parked Vehicle

Baseline Slow moving vehicle in the left lane

Preparation None

Actual event A slow moving vehicle in the left lane forces the participant to right lane. The participant finds a badly parked vehicle and to avoid it, veers into the adjacent lane

Cleanup None

Perf. Measures TBD

Notes In some situations, the participant might be in the left lane when encountering badly parked vehicle. And in such cases, the participant might not react at all.

4.17. Vehicle on Side Street turns Left onto main road.

Vehicle on Side Street turns Left onto main road

Baseline The participant, after changing lanes to overtake slow moving vehicles, would arrive at the event intersection in the left lane.

Preparation A vehicle is created on the side street when the event begins. Its path is set to make a left turn onto the main road

Actual event As the unsuspecting participant approaches the intersection, a vehicle pulls out from the side street and makes a left turn onto the main road in front of the participant.

Cleanup After the participant travels past event intersection, the vehicle that turned in front of the driver will be forced onto the side streets.

Perf. Measures

Notes

4.18. Cross Traffic from Right

Cross Traffic from RightBaseline The participant, after changing lanes to overtake slow moving vehicles, would

arrive at the event intersection.

Preparation A vehicle is created on the cross street close to intersection and is made to wait

at the traffic signals. Its path is set to make a left turn onto the main road

Actual event As the unsuspecting participant approaches the intersection, a vehicle pulls out from the cross street on the right side of the participant and speeds past straight through the intersection, forcing the driver into a sudden braking maneuver.

Cleanup None

Perf. Measures

Notes

4.19. Oncoming Left Turn

Oncoming Left TurnBaseline The participant, after executing multiple lane changes to overtake slow moving

vehicles, arrives at the 4-way intersection.

Preparation A vehicle is created at the 4-way intersection during initiation of this event. And the newly created vehicle is forced to wait at the intersection.

Actual event At approximately the same time as the participant closes in on the intersection, the stopped oncoming vehicle tries to make an aggressive left turn in front of the participant. After sighting the participant, the oncoming vehicle forces itself to sudden stop.

Cleanup None

Perf. Measures

Notes Final event in this scenario.

Documents

Scenario Specification for the Sensitivity Phase 1 of the ...€¦ · Web viewOne building or parking lot on the left side of the road, onto which a vehicle can turn left. At least