| [ |
| { |
| "scenario_id": 0, |
| "descriptions": [ |
| "The ego vehicle is moving at 1.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is moving at 1.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is moving at 1.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is moving at 1.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby." |
| ], |
| "image_files": [ |
| "scenario_0_step_0.png", |
| "scenario_0_step_1.png", |
| "scenario_0_step_2.png", |
| "scenario_0_step_3.png", |
| "scenario_0_step_4.png", |
| "scenario_0_step_5.png", |
| "scenario_0_step_6.png", |
| "scenario_0_step_7.png", |
| "scenario_0_step_8.png", |
| "scenario_0_step_9.png", |
| "scenario_0_step_10.png", |
| "scenario_0_step_11.png", |
| "scenario_0_step_12.png" |
| ], |
| "num_steps": 13 |
| }, |
| { |
| "scenario_id": 1, |
| "descriptions": [ |
| "The ego vehicle is moving at 3.0 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 3.5m behind and is stationary.\nThere is a red traffic light 48.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 3.8m behind and is stationary.\nThere is a red traffic light 48.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 4.1m behind and is stationary.\nThere is a red traffic light 47.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 4.3m behind and is stationary.\nThere is a red traffic light 47.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.3m in front and 3.2m to the left and is moving at 1.6 m/s.\nThere is a red traffic light 47.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.2m in front and 3.2m to the left and is moving at 1.5 m/s.\nThere is a red traffic light 47.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the left and is moving at 1.4 m/s.\nThere is a red traffic light 46.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.0m in front and 3.2m to the left and is moving at 1.4 m/s.\nThere is a red traffic light 46.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.9m in front and 3.2m to the left and is moving at 1.4 m/s.\nThere is a red traffic light 46.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.7m in front and 3.2m to the left and is moving at 1.3 m/s.\nThere is a red traffic light 46.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.6m in front and 3.2m to the left and is moving at 1.2 m/s.\nThere is a red traffic light 45.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.5m in front and 3.3m to the left and is moving at 1.1 m/s.\nThere is a red traffic light 45.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.4m in front and 3.2m to the left and is moving at 1.0 m/s.\nThere is a red traffic light 45.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.3m in front and 3.2m to the left and is moving at 0.9 m/s.\nThere is a red traffic light 45.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.1m in front and 3.3m to the left and is moving at 0.9 m/s.\nThere is a red traffic light 44.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.0m in front and 3.3m to the left and is moving at 0.8 m/s.\nThere is a red traffic light 44.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.9m in front and 3.3m to the left and is moving at 0.8 m/s.\nThere is a red traffic light 44.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.7m in front and 3.3m to the left and is moving at 0.8 m/s.\nThere is a red traffic light 44.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.6m in front and 3.2m to the left and is moving at 0.6 m/s.\nThere is a red traffic light 44.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.5m in front and 3.2m to the left and is moving at 0.5 m/s.\nThere is a red traffic light 43.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.4m in front and 3.2m to the left and is stationary.\nThere is a red traffic light 43.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_1_step_0.png", |
| "scenario_1_step_1.png", |
| "scenario_1_step_2.png", |
| "scenario_1_step_3.png", |
| "scenario_1_step_4.png", |
| "scenario_1_step_5.png", |
| "scenario_1_step_6.png", |
| "scenario_1_step_7.png", |
| "scenario_1_step_8.png", |
| "scenario_1_step_9.png", |
| "scenario_1_step_10.png", |
| "scenario_1_step_11.png", |
| "scenario_1_step_12.png", |
| "scenario_1_step_13.png", |
| "scenario_1_step_14.png", |
| "scenario_1_step_15.png", |
| "scenario_1_step_16.png", |
| "scenario_1_step_17.png", |
| "scenario_1_step_18.png", |
| "scenario_1_step_19.png", |
| "scenario_1_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 2, |
| "descriptions": [ |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m." |
| ], |
| "image_files": [ |
| "scenario_2_step_0.png", |
| "scenario_2_step_1.png", |
| "scenario_2_step_2.png", |
| "scenario_2_step_3.png", |
| "scenario_2_step_4.png", |
| "scenario_2_step_5.png", |
| "scenario_2_step_6.png", |
| "scenario_2_step_7.png" |
| ], |
| "num_steps": 8 |
| }, |
| { |
| "scenario_id": 3, |
| "descriptions": [ |
| "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 9m.", |
| "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 9m.", |
| "The ego vehicle is moving at 2.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.0m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.0m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.1m).\nThe ego vehicle is approaching a slight right turn in approximately 18m.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is approaching a slight right turn in approximately 16m.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is approaching a slight right turn in approximately 14m.", |
| "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.4m).\nThe ego vehicle is approaching a slight right turn in approximately 14m.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is approaching a slight right turn in approximately 15m.", |
| "The ego vehicle is moving at 3.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a slight right turn in approximately 16m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a slight right turn in approximately 13m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.8m).\nThe ego vehicle is approaching a slight right turn in approximately 14m.", |
| "The ego vehicle is moving at 3.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.8m).\nThe ego vehicle is approaching a slight right turn in approximately 12m.", |
| "The ego vehicle is moving at 3.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.9m).\nThe ego vehicle is approaching a slight right turn in approximately 16m.", |
| "The ego vehicle is moving at 3.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (2.0m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (2.0m).\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_3_step_0.png", |
| "scenario_3_step_1.png", |
| "scenario_3_step_2.png", |
| "scenario_3_step_3.png", |
| "scenario_3_step_4.png", |
| "scenario_3_step_5.png", |
| "scenario_3_step_6.png", |
| "scenario_3_step_7.png", |
| "scenario_3_step_8.png", |
| "scenario_3_step_9.png", |
| "scenario_3_step_10.png", |
| "scenario_3_step_11.png", |
| "scenario_3_step_12.png", |
| "scenario_3_step_13.png", |
| "scenario_3_step_14.png", |
| "scenario_3_step_15.png", |
| "scenario_3_step_16.png", |
| "scenario_3_step_17.png", |
| "scenario_3_step_18.png", |
| "scenario_3_step_19.png", |
| "scenario_3_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 4, |
| "descriptions": [ |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.9m behind and 3.4m to the left and is moving at 12.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.8m behind and 3.4m to the left and is moving at 12.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.6m behind and 3.5m to the left and is moving at 12.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.8 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.5m behind and 3.4m to the left and is moving at 12.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.8 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.5m behind and 3.5m to the left and is moving at 12.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.8 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.3m behind and 3.5m to the left and is moving at 12.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 4.1m behind and 3.5m to the left and is moving at 12.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.8 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 4.0m behind and 3.5m to the left and is moving at 12.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.9m behind and 3.5m to the left and is moving at 12.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.7m behind and 3.5m to the left and is moving at 12.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.6m behind and 3.5m to the left and is moving at 12.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.4m behind and 3.5m to the left and is moving at 12.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.3m behind and 3.5m to the left and is moving at 12.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.1m behind and 3.5m to the left and is moving at 12.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.9m behind and 3.5m to the left and is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.7m behind and 3.5m to the left and is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.4m behind and 3.5m to the left and is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.2m behind and 3.5m to the left and is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.1m behind and 3.5m to the left and is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.0m behind and 3.5m to the left and is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.5 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 1.7m behind and 3.5m to the left and is moving at 12.7 m/s.\nThere is a unknown traffic light 49.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_4_step_0.png", |
| "scenario_4_step_1.png", |
| "scenario_4_step_2.png", |
| "scenario_4_step_3.png", |
| "scenario_4_step_4.png", |
| "scenario_4_step_5.png", |
| "scenario_4_step_6.png", |
| "scenario_4_step_7.png", |
| "scenario_4_step_8.png", |
| "scenario_4_step_9.png", |
| "scenario_4_step_10.png", |
| "scenario_4_step_11.png", |
| "scenario_4_step_12.png", |
| "scenario_4_step_13.png", |
| "scenario_4_step_14.png", |
| "scenario_4_step_15.png", |
| "scenario_4_step_16.png", |
| "scenario_4_step_17.png", |
| "scenario_4_step_18.png", |
| "scenario_4_step_19.png", |
| "scenario_4_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 5, |
| "descriptions": [ |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_5_step_0.png", |
| "scenario_5_step_1.png", |
| "scenario_5_step_2.png", |
| "scenario_5_step_3.png", |
| "scenario_5_step_4.png", |
| "scenario_5_step_5.png", |
| "scenario_5_step_6.png", |
| "scenario_5_step_7.png" |
| ], |
| "num_steps": 8 |
| }, |
| { |
| "scenario_id": 6, |
| "descriptions": [ |
| "The ego vehicle is moving at 9.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 15.2m in front and 3.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 14.3m in front and 3.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 13.3m in front and 3.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 12.4m in front and 3.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 11.5m in front and 3.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 10.5m in front and 3.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 9.5m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.6m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 7.6m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 6.7m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.7m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.7m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.8m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.8m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.9m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.9m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.0m behind and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.0m behind and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.0m behind and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.9m behind and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.9m behind and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_6_step_0.png", |
| "scenario_6_step_1.png", |
| "scenario_6_step_2.png", |
| "scenario_6_step_3.png", |
| "scenario_6_step_4.png", |
| "scenario_6_step_5.png", |
| "scenario_6_step_6.png", |
| "scenario_6_step_7.png", |
| "scenario_6_step_8.png", |
| "scenario_6_step_9.png", |
| "scenario_6_step_10.png", |
| "scenario_6_step_11.png", |
| "scenario_6_step_12.png", |
| "scenario_6_step_13.png", |
| "scenario_6_step_14.png", |
| "scenario_6_step_15.png", |
| "scenario_6_step_16.png", |
| "scenario_6_step_17.png", |
| "scenario_6_step_18.png", |
| "scenario_6_step_19.png", |
| "scenario_6_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 7, |
| "descriptions": [ |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m." |
| ], |
| "image_files": [ |
| "scenario_7_step_0.png", |
| "scenario_7_step_1.png", |
| "scenario_7_step_2.png", |
| "scenario_7_step_3.png", |
| "scenario_7_step_4.png", |
| "scenario_7_step_5.png", |
| "scenario_7_step_6.png", |
| "scenario_7_step_7.png" |
| ], |
| "num_steps": 8 |
| }, |
| { |
| "scenario_id": 8, |
| "descriptions": [ |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m." |
| ], |
| "image_files": [ |
| "scenario_8_step_0.png", |
| "scenario_8_step_1.png", |
| "scenario_8_step_2.png", |
| "scenario_8_step_3.png", |
| "scenario_8_step_4.png", |
| "scenario_8_step_5.png", |
| "scenario_8_step_6.png", |
| "scenario_8_step_7.png" |
| ], |
| "num_steps": 8 |
| }, |
| { |
| "scenario_id": 9, |
| "descriptions": [ |
| "The ego vehicle is moving at 6.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 28m.", |
| "The ego vehicle is moving at 6.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", |
| "The ego vehicle is moving at 6.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", |
| "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", |
| "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 25m.", |
| "The ego vehicle is moving at 6.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 24m.", |
| "The ego vehicle is moving at 6.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 24m.", |
| "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 23m.", |
| "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 23m.", |
| "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 22m.", |
| "The ego vehicle is moving at 6.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 21m.", |
| "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 21m.", |
| "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 20m.", |
| "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 19m.", |
| "The ego vehicle is moving at 6.5 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 15.1m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 19m.", |
| "The ego vehicle is moving at 6.4 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 15.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 18m.", |
| "The ego vehicle is moving at 6.5 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 16.4m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 17m.", |
| "The ego vehicle is moving at 6.5 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 17.0m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 17m.", |
| "The ego vehicle is moving at 6.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 17m.", |
| "The ego vehicle is moving at 6.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 16m.", |
| "The ego vehicle is moving at 6.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 15m." |
| ], |
| "image_files": [ |
| "scenario_9_step_0.png", |
| "scenario_9_step_1.png", |
| "scenario_9_step_2.png", |
| "scenario_9_step_3.png", |
| "scenario_9_step_4.png", |
| "scenario_9_step_5.png", |
| "scenario_9_step_6.png", |
| "scenario_9_step_7.png", |
| "scenario_9_step_8.png", |
| "scenario_9_step_9.png", |
| "scenario_9_step_10.png", |
| "scenario_9_step_11.png", |
| "scenario_9_step_12.png", |
| "scenario_9_step_13.png", |
| "scenario_9_step_14.png", |
| "scenario_9_step_15.png", |
| "scenario_9_step_16.png", |
| "scenario_9_step_17.png", |
| "scenario_9_step_18.png", |
| "scenario_9_step_19.png", |
| "scenario_9_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 10, |
| "descriptions": [ |
| "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 48.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 48.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 46.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 46.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 46.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 46.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 46.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 45.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 45.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 45.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 45.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 44.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 44.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 44.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_10_step_0.png", |
| "scenario_10_step_1.png", |
| "scenario_10_step_2.png", |
| "scenario_10_step_3.png", |
| "scenario_10_step_4.png", |
| "scenario_10_step_5.png", |
| "scenario_10_step_6.png", |
| "scenario_10_step_7.png", |
| "scenario_10_step_8.png", |
| "scenario_10_step_9.png", |
| "scenario_10_step_10.png", |
| "scenario_10_step_11.png", |
| "scenario_10_step_12.png", |
| "scenario_10_step_13.png", |
| "scenario_10_step_14.png", |
| "scenario_10_step_15.png", |
| "scenario_10_step_16.png", |
| "scenario_10_step_17.png", |
| "scenario_10_step_18.png", |
| "scenario_10_step_19.png", |
| "scenario_10_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 11, |
| "descriptions": [ |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 48.2m in front and 9.2m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 20m.", |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 47.3m in front and 9.6m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 19m.", |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 46.6m in front and 9.5m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 18m.", |
| "The ego vehicle is moving at 7.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 46.1m in front and 10.3m to the left and is moving at 0.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 18m.", |
| "The ego vehicle is moving at 7.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 45.3m in front and 10.3m to the left and is moving at 0.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", |
| "The ego vehicle is moving at 7.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 44.5m in front and 10.3m to the left and is moving at 0.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", |
| "The ego vehicle is moving at 7.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 11.9m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", |
| "The ego vehicle is moving at 7.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 12.6m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 15m.", |
| "The ego vehicle is moving at 6.9 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 13.3m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 14m.", |
| "The ego vehicle is moving at 6.7 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 14.0m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 14m.", |
| "The ego vehicle is moving at 6.6 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 14.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 13m.", |
| "The ego vehicle is moving at 6.4 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 15.3m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 12m.", |
| "The ego vehicle is moving at 6.4 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 16.0m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 12m.", |
| "The ego vehicle is moving at 6.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 16.6m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 11m.", |
| "The ego vehicle is moving at 6.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 17.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 11m.", |
| "The ego vehicle is moving at 6.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 10m.", |
| "The ego vehicle is moving at 5.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 9m.", |
| "The ego vehicle is moving at 5.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 10m.", |
| "The ego vehicle is moving at 5.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 9m.", |
| "The ego vehicle is moving at 5.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 9m.", |
| "The ego vehicle is moving at 5.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 8m." |
| ], |
| "image_files": [ |
| "scenario_11_step_0.png", |
| "scenario_11_step_1.png", |
| "scenario_11_step_2.png", |
| "scenario_11_step_3.png", |
| "scenario_11_step_4.png", |
| "scenario_11_step_5.png", |
| "scenario_11_step_6.png", |
| "scenario_11_step_7.png", |
| "scenario_11_step_8.png", |
| "scenario_11_step_9.png", |
| "scenario_11_step_10.png", |
| "scenario_11_step_11.png", |
| "scenario_11_step_12.png", |
| "scenario_11_step_13.png", |
| "scenario_11_step_14.png", |
| "scenario_11_step_15.png", |
| "scenario_11_step_16.png", |
| "scenario_11_step_17.png", |
| "scenario_11_step_18.png", |
| "scenario_11_step_19.png", |
| "scenario_11_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 12, |
| "descriptions": [ |
| "The ego vehicle is stationary.\nThe closest vehicle is 26.4m in front and 27.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThe closest vehicle is 26.4m in front and 27.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThe closest vehicle is 26.4m in front and 27.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThe closest vehicle is 26.4m in front and 27.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThe closest vehicle is 26.4m in front and 27.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThe closest vehicle is 0.0m in front and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThe closest vehicle is 0.0m in front and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThe closest vehicle is 0.0m in front and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_12_step_0.png", |
| "scenario_12_step_1.png", |
| "scenario_12_step_2.png", |
| "scenario_12_step_3.png", |
| "scenario_12_step_4.png", |
| "scenario_12_step_5.png", |
| "scenario_12_step_6.png", |
| "scenario_12_step_7.png" |
| ], |
| "num_steps": 8 |
| }, |
| { |
| "scenario_id": 13, |
| "descriptions": [ |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 4.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.4 m/s.\nThe closest vehicle is 4.5m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.2 m/s.\nThe closest vehicle is 4.9m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.1 m/s.\nThe closest vehicle is 5.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_13_step_0.png", |
| "scenario_13_step_1.png", |
| "scenario_13_step_2.png", |
| "scenario_13_step_3.png", |
| "scenario_13_step_4.png", |
| "scenario_13_step_5.png", |
| "scenario_13_step_6.png", |
| "scenario_13_step_7.png", |
| "scenario_13_step_8.png", |
| "scenario_13_step_9.png", |
| "scenario_13_step_10.png", |
| "scenario_13_step_11.png", |
| "scenario_13_step_12.png", |
| "scenario_13_step_13.png", |
| "scenario_13_step_14.png", |
| "scenario_13_step_15.png", |
| "scenario_13_step_16.png", |
| "scenario_13_step_17.png", |
| "scenario_13_step_18.png" |
| ], |
| "num_steps": 19 |
| }, |
| { |
| "scenario_id": 14, |
| "descriptions": [ |
| "The ego vehicle is moving at 4.4 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 1.5m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 20.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.3 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 1.9m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 19.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.4 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 2.3m behind and 2.4m to the left and is stationary.\nThere is a unknown traffic light 19.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.2 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 2.7m behind and 2.4m to the left and is stationary.\nThere is a unknown traffic light 19.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.2 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 3.1m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 18.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.2 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 3.5m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 18.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.1 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 4.0m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 17.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.1 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 4.3m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 17.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.1 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 4.7m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 17.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.0 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 5.1m behind and 2.6m to the left and is stationary.\nThere is a unknown traffic light 16.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.9 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 5.5m behind and 2.7m to the left and is stationary.\nThere is a unknown traffic light 16.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.9 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 5.8m behind and 2.7m to the left and is stationary.\nThere is a unknown traffic light 15.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.8 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 6.2m behind and 2.7m to the left and is stationary.\nThere is a unknown traffic light 15.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.7 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 6.5m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 15.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.6 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 6.9m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 14.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.6 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 7.3m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 14.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.5 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 7.6m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 13.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.5 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 8.0m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 13.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 8.3m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 13.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 8.6m behind and 2.9m to the left and is stationary.\nThere is a unknown traffic light 12.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.2 m/s.\nThere are 2 pedestrian(s), 1 cyclist(s) nearby.\nThe closest cyclist is 8.9m behind and 2.9m to the left and is stationary.\nThere is a unknown traffic light 12.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_14_step_0.png", |
| "scenario_14_step_1.png", |
| "scenario_14_step_2.png", |
| "scenario_14_step_3.png", |
| "scenario_14_step_4.png", |
| "scenario_14_step_5.png", |
| "scenario_14_step_6.png", |
| "scenario_14_step_7.png", |
| "scenario_14_step_8.png", |
| "scenario_14_step_9.png", |
| "scenario_14_step_10.png", |
| "scenario_14_step_11.png", |
| "scenario_14_step_12.png", |
| "scenario_14_step_13.png", |
| "scenario_14_step_14.png", |
| "scenario_14_step_15.png", |
| "scenario_14_step_16.png", |
| "scenario_14_step_17.png", |
| "scenario_14_step_18.png", |
| "scenario_14_step_19.png", |
| "scenario_14_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 15, |
| "descriptions": [ |
| "The ego vehicle is moving at 7.2 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 5.0m behind and 3.1m to the left and is moving at 8.5 m/s.\nThere is a green traffic light 23.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.2 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.9m behind and 3.1m to the left and is moving at 8.4 m/s.\nThere is a green traffic light 22.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.8m behind and 3.1m to the left and is moving at 8.3 m/s.\nThere is a green traffic light 21.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.7m behind and 3.1m to the left and is moving at 8.3 m/s.\nThere is a green traffic light 21.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.6m behind and 3.1m to the left and is moving at 8.2 m/s.\nThere is a green traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.5m behind and 3.1m to the left and is moving at 8.2 m/s.\nThere is a green traffic light 19.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.4m behind and 3.1m to the left and is moving at 8.2 m/s.\nThere is a green traffic light 19.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.5 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.3m behind and 3.1m to the left and is moving at 8.1 m/s.\nThere is a green traffic light 18.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.4 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.2m behind and 3.1m to the left and is moving at 8.1 m/s.\nThere is a green traffic light 17.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.5 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.2m behind and 3.1m to the left and is moving at 8.1 m/s.\nThere is a green traffic light 16.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.1m to the left and is moving at 8.0 m/s.\nThere is a green traffic light 16.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.1m to the left and is moving at 8.0 m/s.\nThere is a green traffic light 15.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.7 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.1m to the left and is moving at 8.0 m/s.\nThere is a green traffic light 14.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.7 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.1m to the left and is moving at 7.9 m/s.\nThere is a green traffic light 13.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.8 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.0m behind and 3.1m to the left and is moving at 7.9 m/s.\nThere is a green traffic light 12.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.9 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.1m to the left and is moving at 7.9 m/s.\nThere is a green traffic light 12.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.0 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.0m behind and 3.1m to the left and is moving at 7.9 m/s.\nThere is a green traffic light 11.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.0 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.0m behind and 3.1m to the left and is moving at 7.8 m/s.\nThere is a green traffic light 10.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.2 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.0m to the left and is moving at 7.8 m/s.\nThere is a green traffic light 9.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.1 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.0m to the left and is moving at 7.8 m/s.\nThere is a green traffic light 8.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.0m to the left and is moving at 7.8 m/s.\nThere is a green traffic light 8.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_15_step_0.png", |
| "scenario_15_step_1.png", |
| "scenario_15_step_2.png", |
| "scenario_15_step_3.png", |
| "scenario_15_step_4.png", |
| "scenario_15_step_5.png", |
| "scenario_15_step_6.png", |
| "scenario_15_step_7.png", |
| "scenario_15_step_8.png", |
| "scenario_15_step_9.png", |
| "scenario_15_step_10.png", |
| "scenario_15_step_11.png", |
| "scenario_15_step_12.png", |
| "scenario_15_step_13.png", |
| "scenario_15_step_14.png", |
| "scenario_15_step_15.png", |
| "scenario_15_step_16.png", |
| "scenario_15_step_17.png", |
| "scenario_15_step_18.png", |
| "scenario_15_step_19.png", |
| "scenario_15_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 16, |
| "descriptions": [ |
| "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 46.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 45.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 45.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 45.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 44.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 44.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 44.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 43.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 43.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 43.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 42.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 42.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 42.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 41.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 41.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 40.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 40.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 39.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 39.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 38.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 38.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_16_step_0.png", |
| "scenario_16_step_1.png", |
| "scenario_16_step_2.png", |
| "scenario_16_step_3.png", |
| "scenario_16_step_4.png", |
| "scenario_16_step_5.png", |
| "scenario_16_step_6.png", |
| "scenario_16_step_7.png", |
| "scenario_16_step_8.png", |
| "scenario_16_step_9.png", |
| "scenario_16_step_10.png", |
| "scenario_16_step_11.png", |
| "scenario_16_step_12.png", |
| "scenario_16_step_13.png", |
| "scenario_16_step_14.png", |
| "scenario_16_step_15.png", |
| "scenario_16_step_16.png", |
| "scenario_16_step_17.png", |
| "scenario_16_step_18.png", |
| "scenario_16_step_19.png", |
| "scenario_16_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 17, |
| "descriptions": [ |
| "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_17_step_0.png", |
| "scenario_17_step_1.png", |
| "scenario_17_step_2.png", |
| "scenario_17_step_3.png", |
| "scenario_17_step_4.png", |
| "scenario_17_step_5.png", |
| "scenario_17_step_6.png", |
| "scenario_17_step_7.png" |
| ], |
| "num_steps": 8 |
| }, |
| { |
| "scenario_id": 18, |
| "descriptions": [ |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 6.5m in front and 29.2m to the left and is stationary.\nThere is a unknown traffic light 28.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 5.6m in front and 29.2m to the left and is stationary.\nThere is a unknown traffic light 27.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 28.9m in front and 6.2m to the left and is moving at 12.8 m/s.\nThere is a unknown traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 26.6m in front and 6.2m to the left and is moving at 12.6 m/s.\nThere is a unknown traffic light 25.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 24.3m in front and 6.3m to the left and is moving at 12.5 m/s.\nThere is a red traffic light 24.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 14.7m behind and is stationary.\nThere is a red traffic light 23.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 15.6m behind and is stationary.\nThere is a red traffic light 23.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 16.6m behind and is stationary.\nThere is a red traffic light 22.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 15.5m in front and 6.3m to the left and is moving at 12.2 m/s.\nThere is a red traffic light 21.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 13.4m in front and 6.3m to the left and is moving at 12.1 m/s.\nThere is a red traffic light 20.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 11.2m in front and 6.2m to the left and is moving at 12.0 m/s.\nThere is a red traffic light 19.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.4 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 8.9m in front and 6.3m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 18.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 6.9m in front and 6.3m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 17.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 4.6m in front and 6.3m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 16.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.6m in front and 6.3m to the left and is moving at 11.5 m/s.\nThere is a red traffic light 15.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.4m in front and 6.3m to the left and is moving at 11.4 m/s.\nThere is a red traffic light 14.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.6m behind and 6.3m to the left and is moving at 11.2 m/s.\nThere is a red traffic light 13.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.7m behind and 6.4m to the left and is moving at 11.0 m/s.\nThere is a red traffic light 12.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.8m behind and 6.4m to the left and is moving at 10.8 m/s.\nThere is a red traffic light 11.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 7.9m behind and 6.4m to the left and is moving at 10.6 m/s.\nThere is a red traffic light 10.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 10.0m behind and 6.4m to the left and is moving at 10.4 m/s.\nThere is a red traffic light 10.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_18_step_0.png", |
| "scenario_18_step_1.png", |
| "scenario_18_step_2.png", |
| "scenario_18_step_3.png", |
| "scenario_18_step_4.png", |
| "scenario_18_step_5.png", |
| "scenario_18_step_6.png", |
| "scenario_18_step_7.png", |
| "scenario_18_step_8.png", |
| "scenario_18_step_9.png", |
| "scenario_18_step_10.png", |
| "scenario_18_step_11.png", |
| "scenario_18_step_12.png", |
| "scenario_18_step_13.png", |
| "scenario_18_step_14.png", |
| "scenario_18_step_15.png", |
| "scenario_18_step_16.png", |
| "scenario_18_step_17.png", |
| "scenario_18_step_18.png", |
| "scenario_18_step_19.png", |
| "scenario_18_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 19, |
| "descriptions": [ |
| "The ego vehicle is stationary.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 0.0m in front and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", |
| "The ego vehicle is stationary.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 0.0m in front and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", |
| "The ego vehicle is stationary.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 0.0m in front and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", |
| "The ego vehicle is stationary.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 0.0m in front and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", |
| "The ego vehicle is stationary.\nThere are 2 pedestrian(s) nearby.\nThe closest pedestrian is 0.0m in front and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", |
| "The ego vehicle is stationary.\nThere are 2 pedestrian(s) nearby.\nThe closest pedestrian is 0.0m behind and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", |
| "The ego vehicle is stationary.\nThere are 2 pedestrian(s) nearby.\nThe closest pedestrian is 0.0m behind and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", |
| "The ego vehicle is stationary.\nThere are 2 pedestrian(s) nearby.\nThe closest pedestrian is 0.0m behind and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m." |
| ], |
| "image_files": [ |
| "scenario_19_step_0.png", |
| "scenario_19_step_1.png", |
| "scenario_19_step_2.png", |
| "scenario_19_step_3.png", |
| "scenario_19_step_4.png", |
| "scenario_19_step_5.png", |
| "scenario_19_step_6.png", |
| "scenario_19_step_7.png" |
| ], |
| "num_steps": 8 |
| }, |
| { |
| "scenario_id": 20, |
| "descriptions": [ |
| "The ego vehicle is moving at 5.0 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest pedestrian is 5.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.9 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest pedestrian is 5.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.9 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest pedestrian is 6.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.8 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest pedestrian is 6.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.7 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest pedestrian is 7.1m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.1m in front and 6.9m to the right and is moving at 0.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.7m in front and 6.9m to the right and is moving at 0.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.3m in front and 6.9m to the right and is moving at 0.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.9m in front and 6.9m to the right and is moving at 0.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.5m in front and 6.9m to the right and is moving at 0.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.1m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.8m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.4m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.0m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.6m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.3m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.1m behind and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.5m behind and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.0m behind and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m behind and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.7m behind and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_20_step_0.png", |
| "scenario_20_step_1.png", |
| "scenario_20_step_2.png", |
| "scenario_20_step_3.png", |
| "scenario_20_step_4.png", |
| "scenario_20_step_5.png", |
| "scenario_20_step_6.png", |
| "scenario_20_step_7.png", |
| "scenario_20_step_8.png", |
| "scenario_20_step_9.png", |
| "scenario_20_step_10.png", |
| "scenario_20_step_11.png", |
| "scenario_20_step_12.png", |
| "scenario_20_step_13.png", |
| "scenario_20_step_14.png", |
| "scenario_20_step_15.png", |
| "scenario_20_step_16.png", |
| "scenario_20_step_17.png", |
| "scenario_20_step_18.png", |
| "scenario_20_step_19.png", |
| "scenario_20_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 21, |
| "descriptions": [ |
| "The ego vehicle is moving at 11.0 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 3.5m behind and 6.8m to the left and is moving at 13.2 m/s.\nThere is a green traffic light 28.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 3.2m behind and 6.8m to the left and is moving at 13.1 m/s.\nThere is a green traffic light 27.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 3.1m behind and 6.8m to the left and is moving at 13.0 m/s.\nThere is a green traffic light 26.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 2.7m behind and 6.8m to the left and is moving at 13.0 m/s.\nThere is a green traffic light 25.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 2.6m behind and 6.8m to the left and is moving at 13.0 m/s.\nThere is a green traffic light 24.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.8 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 2.5m behind and 6.7m to the left and is moving at 13.0 m/s.\nThere is a green traffic light 23.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 2.3m behind and 6.7m to the left and is moving at 12.9 m/s.\nThere is a green traffic light 22.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 2.0m behind and 6.7m to the left and is moving at 12.9 m/s.\nThere is a green traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.8m behind and 6.7m to the left and is moving at 12.8 m/s.\nThere is a green traffic light 20.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.5m behind and 6.7m to the left and is moving at 12.7 m/s.\nThere is a green traffic light 19.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.4m behind and 6.7m to the left and is moving at 12.6 m/s.\nThere is a green traffic light 18.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.2m behind and 6.7m to the left and is moving at 12.5 m/s.\nThere is a green traffic light 17.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.2m behind and 6.7m to the left and is moving at 12.5 m/s.\nThere is a green traffic light 16.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.5 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.0m behind and 6.6m to the left and is moving at 12.4 m/s.\nThere is a green traffic light 15.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.8m behind and 6.6m to the left and is moving at 12.4 m/s.\nThere is a green traffic light 13.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.7m behind and 6.6m to the left and is moving at 12.4 m/s.\nThere is a green traffic light 12.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.5 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.5m behind and 6.6m to the left and is moving at 12.3 m/s.\nThere is a green traffic light 11.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.5 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.4m behind and 6.6m to the left and is moving at 12.3 m/s.\nThere is a green traffic light 10.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.2m behind and 6.6m to the left and is moving at 12.3 m/s.\nThere is a green traffic light 9.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.1m behind and 6.6m to the left and is moving at 12.2 m/s.\nThere is a green traffic light 8.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.3m in front and 6.6m to the left and is moving at 12.2 m/s.\nThere is a green traffic light 7.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_21_step_0.png", |
| "scenario_21_step_1.png", |
| "scenario_21_step_2.png", |
| "scenario_21_step_3.png", |
| "scenario_21_step_4.png", |
| "scenario_21_step_5.png", |
| "scenario_21_step_6.png", |
| "scenario_21_step_7.png", |
| "scenario_21_step_8.png", |
| "scenario_21_step_9.png", |
| "scenario_21_step_10.png", |
| "scenario_21_step_11.png", |
| "scenario_21_step_12.png", |
| "scenario_21_step_13.png", |
| "scenario_21_step_14.png", |
| "scenario_21_step_15.png", |
| "scenario_21_step_16.png", |
| "scenario_21_step_17.png", |
| "scenario_21_step_18.png", |
| "scenario_21_step_19.png", |
| "scenario_21_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 22, |
| "descriptions": [ |
| "The ego vehicle is moving at 0.9 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.3m behind and is stationary.\nThere is a red traffic light 29.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.8 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.4m behind and is stationary.\nThere is a red traffic light 29.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.8 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.4m behind and is stationary.\nThere is a red traffic light 29.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.7 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.5m behind and is stationary.\nThere is a red traffic light 29.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.7 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.6m behind and is stationary.\nThere is a red traffic light 29.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.7m behind and is stationary.\nThere is a red traffic light 29.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_22_step_0.png", |
| "scenario_22_step_1.png", |
| "scenario_22_step_2.png", |
| "scenario_22_step_3.png", |
| "scenario_22_step_4.png", |
| "scenario_22_step_5.png", |
| "scenario_22_step_6.png", |
| "scenario_22_step_7.png", |
| "scenario_22_step_8.png" |
| ], |
| "num_steps": 9 |
| }, |
| { |
| "scenario_id": 23, |
| "descriptions": [ |
| "The ego vehicle is moving at 8.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 47.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 46.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 45.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 44.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 43.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 43.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 42.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 41.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 40.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 39.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 38.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 37.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 37.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 36.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 35.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 33.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 32.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 31.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 30.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 30.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_23_step_0.png", |
| "scenario_23_step_1.png", |
| "scenario_23_step_2.png", |
| "scenario_23_step_3.png", |
| "scenario_23_step_4.png", |
| "scenario_23_step_5.png", |
| "scenario_23_step_6.png", |
| "scenario_23_step_7.png", |
| "scenario_23_step_8.png", |
| "scenario_23_step_9.png", |
| "scenario_23_step_10.png", |
| "scenario_23_step_11.png", |
| "scenario_23_step_12.png", |
| "scenario_23_step_13.png", |
| "scenario_23_step_14.png", |
| "scenario_23_step_15.png", |
| "scenario_23_step_16.png", |
| "scenario_23_step_17.png", |
| "scenario_23_step_18.png", |
| "scenario_23_step_19.png", |
| "scenario_23_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 24, |
| "descriptions": [ |
| "The ego vehicle is moving at 12.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 39.4m behind and 2.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 13.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 40.7m behind and 2.8m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 13.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 42.0m behind and 2.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 43.3m behind and 2.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 44.6m behind and 2.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 45.8m behind and 2.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 47.1m behind and 2.6m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 48.4m behind and 2.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 49.7m behind and 2.8m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_24_step_0.png", |
| "scenario_24_step_1.png", |
| "scenario_24_step_2.png", |
| "scenario_24_step_3.png", |
| "scenario_24_step_4.png", |
| "scenario_24_step_5.png", |
| "scenario_24_step_6.png", |
| "scenario_24_step_7.png", |
| "scenario_24_step_8.png", |
| "scenario_24_step_9.png", |
| "scenario_24_step_10.png", |
| "scenario_24_step_11.png", |
| "scenario_24_step_12.png", |
| "scenario_24_step_13.png", |
| "scenario_24_step_14.png", |
| "scenario_24_step_15.png", |
| "scenario_24_step_16.png", |
| "scenario_24_step_17.png", |
| "scenario_24_step_18.png", |
| "scenario_24_step_19.png", |
| "scenario_24_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 25, |
| "descriptions": [ |
| "The ego vehicle is moving at 3.6 m/s.\nThe closest vehicle is 8.7m in front and 2.8m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 6m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 8.0m in front and 3.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 3.4 m/s.\nThe closest vehicle is 7.5m in front and 4.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 3.4 m/s.\nThe closest vehicle is 6.9m in front and 4.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 6m.", |
| "The ego vehicle is moving at 3.4 m/s.\nThe closest vehicle is 6.5m in front and 4.6m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 3.4 m/s.\nThe closest vehicle is 6.2m in front and 4.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 5.8m in front and 4.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 5.2m in front and 4.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 4.9m in front and 4.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 4.5m in front and 4.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 3.6 m/s.\nThe closest vehicle is 4.1m in front and 4.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 3m.", |
| "The ego vehicle is moving at 3.6 m/s.\nThe closest vehicle is 3.6m in front and 5.0m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 3.6 m/s.\nThe closest vehicle is 3.1m in front and 5.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 3m.", |
| "The ego vehicle is moving at 3.6 m/s.\nThe closest vehicle is 2.7m in front and 5.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 3m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 2.1m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 3m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 1.7m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 1.3m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 0.9m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 0.5m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 0.0m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 0.4m behind and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m." |
| ], |
| "image_files": [ |
| "scenario_25_step_0.png", |
| "scenario_25_step_1.png", |
| "scenario_25_step_2.png", |
| "scenario_25_step_3.png", |
| "scenario_25_step_4.png", |
| "scenario_25_step_5.png", |
| "scenario_25_step_6.png", |
| "scenario_25_step_7.png", |
| "scenario_25_step_8.png", |
| "scenario_25_step_9.png", |
| "scenario_25_step_10.png", |
| "scenario_25_step_11.png", |
| "scenario_25_step_12.png", |
| "scenario_25_step_13.png", |
| "scenario_25_step_14.png", |
| "scenario_25_step_15.png", |
| "scenario_25_step_16.png", |
| "scenario_25_step_17.png", |
| "scenario_25_step_18.png", |
| "scenario_25_step_19.png", |
| "scenario_25_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 26, |
| "descriptions": [ |
| "The ego vehicle is moving at 1.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.2m behind and is stationary.\nThere is a unknown traffic light 6.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", |
| "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 6.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 1.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 5m.", |
| "The ego vehicle is moving at 1.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 5m.", |
| "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 4.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 4.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 4.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 4.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m." |
| ], |
| "image_files": [ |
| "scenario_26_step_0.png", |
| "scenario_26_step_1.png", |
| "scenario_26_step_2.png", |
| "scenario_26_step_3.png", |
| "scenario_26_step_4.png", |
| "scenario_26_step_5.png", |
| "scenario_26_step_6.png", |
| "scenario_26_step_7.png", |
| "scenario_26_step_8.png", |
| "scenario_26_step_9.png", |
| "scenario_26_step_10.png", |
| "scenario_26_step_11.png", |
| "scenario_26_step_12.png", |
| "scenario_26_step_13.png", |
| "scenario_26_step_14.png", |
| "scenario_26_step_15.png", |
| "scenario_26_step_16.png" |
| ], |
| "num_steps": 17 |
| }, |
| { |
| "scenario_id": 27, |
| "descriptions": [ |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m." |
| ], |
| "image_files": [ |
| "scenario_27_step_0.png", |
| "scenario_27_step_1.png", |
| "scenario_27_step_2.png", |
| "scenario_27_step_3.png", |
| "scenario_27_step_4.png", |
| "scenario_27_step_5.png", |
| "scenario_27_step_6.png", |
| "scenario_27_step_7.png" |
| ], |
| "num_steps": 8 |
| }, |
| { |
| "scenario_id": 28, |
| "descriptions": [ |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 34.9m ahead." |
| ], |
| "image_files": [ |
| "scenario_28_step_0.png", |
| "scenario_28_step_1.png", |
| "scenario_28_step_2.png", |
| "scenario_28_step_3.png", |
| "scenario_28_step_4.png", |
| "scenario_28_step_5.png", |
| "scenario_28_step_6.png", |
| "scenario_28_step_7.png" |
| ], |
| "num_steps": 8 |
| }, |
| { |
| "scenario_id": 29, |
| "descriptions": [ |
| "The ego vehicle is moving at 12.5 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.4m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 29.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.5 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.5m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 30.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.4 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.6m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 31.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.3 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.6m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 32.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.5 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.7m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 33.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.3 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.7m behind and 7.1m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 34.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.4 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.8m behind and 7.1m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 35.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.5 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.9m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 36.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.3 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 9.0m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 37.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.2 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 9.0m behind and 7.2m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 38.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.3 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 9.1m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 39.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.3 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 9.1m behind and 7.1m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 41.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.3 m/s.\nThere are 2 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 9.2m behind and 7.1m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 42.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.2 m/s.\nThere are 2 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 9.2m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 43.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.1 m/s.\nThere are 2 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 9.3m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 44.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.1 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.3m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 45.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.2 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.3m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 46.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.1 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.3m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 47.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.0 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.4m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 48.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.0 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.4m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 49.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.0 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.4m behind and 7.2m to the left and is moving at 11.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_29_step_0.png", |
| "scenario_29_step_1.png", |
| "scenario_29_step_2.png", |
| "scenario_29_step_3.png", |
| "scenario_29_step_4.png", |
| "scenario_29_step_5.png", |
| "scenario_29_step_6.png", |
| "scenario_29_step_7.png", |
| "scenario_29_step_8.png", |
| "scenario_29_step_9.png", |
| "scenario_29_step_10.png", |
| "scenario_29_step_11.png", |
| "scenario_29_step_12.png", |
| "scenario_29_step_13.png", |
| "scenario_29_step_14.png", |
| "scenario_29_step_15.png", |
| "scenario_29_step_16.png", |
| "scenario_29_step_17.png", |
| "scenario_29_step_18.png", |
| "scenario_29_step_19.png", |
| "scenario_29_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 30, |
| "descriptions": [ |
| "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_30_step_0.png", |
| "scenario_30_step_1.png", |
| "scenario_30_step_2.png", |
| "scenario_30_step_3.png", |
| "scenario_30_step_4.png", |
| "scenario_30_step_5.png", |
| "scenario_30_step_6.png", |
| "scenario_30_step_7.png", |
| "scenario_30_step_8.png", |
| "scenario_30_step_9.png", |
| "scenario_30_step_10.png", |
| "scenario_30_step_11.png", |
| "scenario_30_step_12.png", |
| "scenario_30_step_13.png", |
| "scenario_30_step_14.png", |
| "scenario_30_step_15.png", |
| "scenario_30_step_16.png", |
| "scenario_30_step_17.png", |
| "scenario_30_step_18.png", |
| "scenario_30_step_19.png", |
| "scenario_30_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 31, |
| "descriptions": [ |
| "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.9m behind and 3.6m to the right and is moving at 7.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 5.3m behind and 3.6m to the right and is moving at 7.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 5.9m behind and 3.6m to the right and is moving at 7.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 6.4m behind and 3.6m to the right and is moving at 7.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 6.9m behind and 3.6m to the right and is moving at 7.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 7.4m behind and 3.6m to the right and is moving at 7.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 8.0m behind and 3.6m to the right and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 8.5m behind and 3.6m to the right and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.0m behind and 3.6m to the right and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.5m behind and 3.5m to the right and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.0m behind and 3.6m to the right and is moving at 7.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.4 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.5m behind and 3.6m to the right and is moving at 7.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.5m behind and 10.6m to the left and is moving at 12.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.7 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.4m behind and 10.6m to the left and is moving at 12.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.5m behind and 10.6m to the left and is moving at 12.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.7 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.6m behind and 10.6m to the left and is moving at 11.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.7m behind and 10.6m to the left and is moving at 11.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.8m behind and 10.6m to the left and is moving at 11.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 12.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.9m behind and 10.7m to the left and is moving at 11.4 m/s.\nThere is a red traffic light 49.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 13.0 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 5.1m behind and 10.7m to the left and is moving at 11.2 m/s.\nThere is a red traffic light 47.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 13.0 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 5.2m behind and 10.7m to the left and is moving at 11.1 m/s.\nThere is a red traffic light 46.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_31_step_0.png", |
| "scenario_31_step_1.png", |
| "scenario_31_step_2.png", |
| "scenario_31_step_3.png", |
| "scenario_31_step_4.png", |
| "scenario_31_step_5.png", |
| "scenario_31_step_6.png", |
| "scenario_31_step_7.png", |
| "scenario_31_step_8.png", |
| "scenario_31_step_9.png", |
| "scenario_31_step_10.png", |
| "scenario_31_step_11.png", |
| "scenario_31_step_12.png", |
| "scenario_31_step_13.png", |
| "scenario_31_step_14.png", |
| "scenario_31_step_15.png", |
| "scenario_31_step_16.png", |
| "scenario_31_step_17.png", |
| "scenario_31_step_18.png", |
| "scenario_31_step_19.png", |
| "scenario_31_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 32, |
| "descriptions": [ |
| "The ego vehicle is moving at 7.1 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 6.5m behind and is stationary.\nThere is a green traffic light 26.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.7m in front and 3.2m to the right and is moving at 7.0 m/s.\nThere is a green traffic light 26.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.4 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.7m in front and 3.1m to the right and is moving at 7.1 m/s.\nThere is a green traffic light 25.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.5 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.8m in front and 3.1m to the right and is moving at 7.1 m/s.\nThere is a green traffic light 24.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.7m in front and 3.1m to the right and is moving at 7.2 m/s.\nThere is a green traffic light 23.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.6m in front and 3.1m to the right and is moving at 7.3 m/s.\nThere is a green traffic light 23.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.8 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.6m in front and 3.1m to the right and is moving at 7.4 m/s.\nThere is a green traffic light 22.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.0 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.5m in front and 3.2m to the right and is moving at 7.5 m/s.\nThere is a green traffic light 21.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.0 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.5m in front and 3.2m to the right and is moving at 7.5 m/s.\nThere is a green traffic light 20.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.2 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.4m in front and 3.2m to the right and is moving at 7.6 m/s.\nThere is a green traffic light 19.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.2 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.3m in front and 3.2m to the right and is moving at 7.7 m/s.\nThere is a green traffic light 19.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.3 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.3m in front and 3.2m to the right and is moving at 7.8 m/s.\nThere is a green traffic light 18.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.4 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.2m in front and 3.2m to the right and is moving at 7.9 m/s.\nThere is a green traffic light 17.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.3 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.2m in front and 3.2m to the right and is moving at 8.0 m/s.\nThere is a green traffic light 16.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the right and is moving at 8.0 m/s.\nThere is a green traffic light 15.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.5 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the right and is moving at 8.2 m/s.\nThere is a green traffic light 15.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.5 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the right and is moving at 8.3 m/s.\nThere is a green traffic light 14.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.0m in front and 3.3m to the right and is moving at 8.3 m/s.\nThere is a green traffic light 13.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.0m in front and 3.2m to the right and is moving at 8.5 m/s.\nThere is a green traffic light 12.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the right and is moving at 8.6 m/s.\nThere is a green traffic light 11.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 8.8 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the right and is moving at 8.6 m/s.\nThere is a green traffic light 10.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_32_step_0.png", |
| "scenario_32_step_1.png", |
| "scenario_32_step_2.png", |
| "scenario_32_step_3.png", |
| "scenario_32_step_4.png", |
| "scenario_32_step_5.png", |
| "scenario_32_step_6.png", |
| "scenario_32_step_7.png", |
| "scenario_32_step_8.png", |
| "scenario_32_step_9.png", |
| "scenario_32_step_10.png", |
| "scenario_32_step_11.png", |
| "scenario_32_step_12.png", |
| "scenario_32_step_13.png", |
| "scenario_32_step_14.png", |
| "scenario_32_step_15.png", |
| "scenario_32_step_16.png", |
| "scenario_32_step_17.png", |
| "scenario_32_step_18.png", |
| "scenario_32_step_19.png", |
| "scenario_32_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 33, |
| "descriptions": [ |
| "The ego vehicle is moving at 1.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", |
| "The ego vehicle is moving at 1.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", |
| "The ego vehicle is moving at 1.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", |
| "The ego vehicle is moving at 1.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 18m.", |
| "The ego vehicle is moving at 1.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", |
| "The ego vehicle is moving at 1.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", |
| "The ego vehicle is moving at 1.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", |
| "The ego vehicle is moving at 1.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", |
| "The ego vehicle is moving at 2.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", |
| "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", |
| "The ego vehicle is moving at 2.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", |
| "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 14m.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 15m.", |
| "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 15m.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 13m.", |
| "The ego vehicle is moving at 3.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 14m.", |
| "The ego vehicle is moving at 3.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 14m." |
| ], |
| "image_files": [ |
| "scenario_33_step_0.png", |
| "scenario_33_step_1.png", |
| "scenario_33_step_2.png", |
| "scenario_33_step_3.png", |
| "scenario_33_step_4.png", |
| "scenario_33_step_5.png", |
| "scenario_33_step_6.png", |
| "scenario_33_step_7.png", |
| "scenario_33_step_8.png", |
| "scenario_33_step_9.png", |
| "scenario_33_step_10.png", |
| "scenario_33_step_11.png", |
| "scenario_33_step_12.png", |
| "scenario_33_step_13.png", |
| "scenario_33_step_14.png", |
| "scenario_33_step_15.png", |
| "scenario_33_step_16.png", |
| "scenario_33_step_17.png", |
| "scenario_33_step_18.png", |
| "scenario_33_step_19.png", |
| "scenario_33_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 34, |
| "descriptions": [ |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_34_step_0.png", |
| "scenario_34_step_1.png", |
| "scenario_34_step_2.png", |
| "scenario_34_step_3.png", |
| "scenario_34_step_4.png", |
| "scenario_34_step_5.png", |
| "scenario_34_step_6.png", |
| "scenario_34_step_7.png" |
| ], |
| "num_steps": 8 |
| }, |
| { |
| "scenario_id": 35, |
| "descriptions": [ |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 5.6m in front and 3.8m to the right and is moving at 10.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.5 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 5.8m in front and 3.8m to the right and is moving at 9.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.5 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 6.0m in front and 3.8m to the right and is moving at 9.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 6.3m in front and 3.8m to the right and is moving at 9.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 6.5m in front and 3.7m to the right and is moving at 9.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 6.8m in front and 3.7m to the right and is moving at 9.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 7.0m in front and 3.7m to the right and is moving at 9.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 7.2m in front and 3.7m to the right and is moving at 9.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 7.4m in front and 3.6m to the right and is moving at 9.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 7.6m in front and 3.6m to the right and is moving at 9.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 7.8m in front and 3.5m to the right and is moving at 9.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 8.0m in front and 3.5m to the right and is moving at 9.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 8.2m in front and 3.5m to the right and is moving at 9.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.3m in front and 3.4m to the right and is moving at 9.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.4m in front and 3.4m to the right and is moving at 9.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.7m in front and 3.3m to the right and is moving at 9.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.8m in front and 3.2m to the right and is moving at 8.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.9m in front and 3.2m to the right and is moving at 8.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 9.0m in front and 3.1m to the right and is moving at 8.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 9.1m in front and 3.0m to the right and is moving at 8.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 9.2m in front and 2.9m to the right and is moving at 8.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_35_step_0.png", |
| "scenario_35_step_1.png", |
| "scenario_35_step_2.png", |
| "scenario_35_step_3.png", |
| "scenario_35_step_4.png", |
| "scenario_35_step_5.png", |
| "scenario_35_step_6.png", |
| "scenario_35_step_7.png", |
| "scenario_35_step_8.png", |
| "scenario_35_step_9.png", |
| "scenario_35_step_10.png", |
| "scenario_35_step_11.png", |
| "scenario_35_step_12.png", |
| "scenario_35_step_13.png", |
| "scenario_35_step_14.png", |
| "scenario_35_step_15.png", |
| "scenario_35_step_16.png", |
| "scenario_35_step_17.png", |
| "scenario_35_step_18.png", |
| "scenario_35_step_19.png", |
| "scenario_35_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 36, |
| "descriptions": [ |
| "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.4m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 2m.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.9m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.1m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.3m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.5m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.9m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 4m.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 4m.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 4m.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 4.7m behind and 2.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 4m.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 4.9m behind and 2.4m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 4m.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 5.1m behind and 2.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_36_step_0.png", |
| "scenario_36_step_1.png", |
| "scenario_36_step_2.png", |
| "scenario_36_step_3.png", |
| "scenario_36_step_4.png", |
| "scenario_36_step_5.png", |
| "scenario_36_step_6.png", |
| "scenario_36_step_7.png", |
| "scenario_36_step_8.png", |
| "scenario_36_step_9.png", |
| "scenario_36_step_10.png", |
| "scenario_36_step_11.png", |
| "scenario_36_step_12.png", |
| "scenario_36_step_13.png", |
| "scenario_36_step_14.png", |
| "scenario_36_step_15.png", |
| "scenario_36_step_16.png", |
| "scenario_36_step_17.png", |
| "scenario_36_step_18.png", |
| "scenario_36_step_19.png", |
| "scenario_36_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 37, |
| "descriptions": [ |
| "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_37_step_0.png", |
| "scenario_37_step_1.png", |
| "scenario_37_step_2.png", |
| "scenario_37_step_3.png", |
| "scenario_37_step_4.png", |
| "scenario_37_step_5.png", |
| "scenario_37_step_6.png", |
| "scenario_37_step_7.png", |
| "scenario_37_step_8.png" |
| ], |
| "num_steps": 9 |
| }, |
| { |
| "scenario_id": 38, |
| "descriptions": [ |
| "The ego vehicle is moving at 6.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 8.1m in front and 2.2m to the right and is stationary.\nThere is a green traffic light 23.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 7.5m in front and 2.2m to the right and is stationary.\nThere is a green traffic light 23.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 6.9m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 22.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 6.2m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 21.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 5.6m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 21.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.7 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.9m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 20.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.7 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.3m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 19.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 3.6m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 19.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 2.9m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 18.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 2.3m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 17.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 1.6m in front and 2.0m to the right and is stationary.\nThere is a green traffic light 17.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 0.9m in front and 2.0m to the right and is stationary.\nThere is a green traffic light 16.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 0.2m in front and 2.0m to the right and is stationary.\nThere is a green traffic light 15.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 0.5m behind and 2.0m to the right and is stationary.\nThere is a green traffic light 15.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 1.2m behind and 2.0m to the right and is stationary.\nThere is a green traffic light 14.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.4 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 1.9m behind and 2.1m to the right and is stationary.\nThere is a green traffic light 13.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 2.6m behind and 2.1m to the right and is stationary.\nThere is a green traffic light 12.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 0.7m in front and 3.8m to the right and is stationary.\nThere is a green traffic light 12.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 3.2m in front and is stationary.\nThere is a green traffic light 11.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.7 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 2.4m in front and is stationary.\nThere is a green traffic light 10.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 1.6m in front and is stationary.\nThere is a green traffic light 9.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_38_step_0.png", |
| "scenario_38_step_1.png", |
| "scenario_38_step_2.png", |
| "scenario_38_step_3.png", |
| "scenario_38_step_4.png", |
| "scenario_38_step_5.png", |
| "scenario_38_step_6.png", |
| "scenario_38_step_7.png", |
| "scenario_38_step_8.png", |
| "scenario_38_step_9.png", |
| "scenario_38_step_10.png", |
| "scenario_38_step_11.png", |
| "scenario_38_step_12.png", |
| "scenario_38_step_13.png", |
| "scenario_38_step_14.png", |
| "scenario_38_step_15.png", |
| "scenario_38_step_16.png", |
| "scenario_38_step_17.png", |
| "scenario_38_step_18.png", |
| "scenario_38_step_19.png", |
| "scenario_38_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 39, |
| "descriptions": [ |
| "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is approaching a sharp left turn in approximately 6m.", |
| "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 1.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 1.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 1.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 1.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 1.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 1.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 2.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 2.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 2.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.8m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m." |
| ], |
| "image_files": [ |
| "scenario_39_step_0.png", |
| "scenario_39_step_1.png", |
| "scenario_39_step_2.png", |
| "scenario_39_step_3.png", |
| "scenario_39_step_4.png", |
| "scenario_39_step_5.png", |
| "scenario_39_step_6.png", |
| "scenario_39_step_7.png", |
| "scenario_39_step_8.png", |
| "scenario_39_step_9.png", |
| "scenario_39_step_10.png", |
| "scenario_39_step_11.png", |
| "scenario_39_step_12.png", |
| "scenario_39_step_13.png", |
| "scenario_39_step_14.png", |
| "scenario_39_step_15.png", |
| "scenario_39_step_16.png", |
| "scenario_39_step_17.png", |
| "scenario_39_step_18.png", |
| "scenario_39_step_19.png", |
| "scenario_39_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 40, |
| "descriptions": [ |
| "The ego vehicle is moving at 10.5 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 18.6m in front and 5.9m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.3 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 11.5m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.4 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 12.6m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 13.6m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 14.6m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 13.5m in front and 5.9m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 12.5m in front and 5.8m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 11.5m in front and 5.7m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.6m in front and 5.7m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.6m in front and 5.6m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.2 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 8.6m in front and 5.5m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 7.6m in front and 5.5m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 6.7m in front and 5.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 5.7m in front and 5.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 4.7m in front and 5.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 3.8m in front and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 2.8m in front and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 1.8m in front and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 0.8m in front and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 0.1m behind and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.9 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 1.1m behind and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_40_step_0.png", |
| "scenario_40_step_1.png", |
| "scenario_40_step_2.png", |
| "scenario_40_step_3.png", |
| "scenario_40_step_4.png", |
| "scenario_40_step_5.png", |
| "scenario_40_step_6.png", |
| "scenario_40_step_7.png", |
| "scenario_40_step_8.png", |
| "scenario_40_step_9.png", |
| "scenario_40_step_10.png", |
| "scenario_40_step_11.png", |
| "scenario_40_step_12.png", |
| "scenario_40_step_13.png", |
| "scenario_40_step_14.png", |
| "scenario_40_step_15.png", |
| "scenario_40_step_16.png", |
| "scenario_40_step_17.png", |
| "scenario_40_step_18.png", |
| "scenario_40_step_19.png", |
| "scenario_40_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 41, |
| "descriptions": [ |
| "The ego vehicle is moving at 3.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.7m in front and 6.2m to the right and is moving at 4.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.8m in front and 6.2m to the right and is moving at 4.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.8m in front and 6.2m to the right and is moving at 3.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.9m in front and 6.2m to the right and is moving at 3.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.1m in front and 6.2m to the right and is moving at 3.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.1m in front and 6.2m to the right and is moving at 3.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.2m in front and 6.2m to the right and is moving at 3.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 3.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.4m in front and 6.2m to the right and is moving at 2.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 2.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 2.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 2.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 2.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 2.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.4m in front and 6.2m to the right and is moving at 2.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.5m in front and 6.2m to the right and is moving at 1.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.5m in front and 6.2m to the right and is moving at 1.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.6m in front and 6.2m to the right and is moving at 1.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.8m in front and 6.1m to the right and is moving at 1.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.8m in front and 6.1m to the right and is moving at 1.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.8m in front and 6.1m to the right and is moving at 1.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_41_step_0.png", |
| "scenario_41_step_1.png", |
| "scenario_41_step_2.png", |
| "scenario_41_step_3.png", |
| "scenario_41_step_4.png", |
| "scenario_41_step_5.png", |
| "scenario_41_step_6.png", |
| "scenario_41_step_7.png", |
| "scenario_41_step_8.png", |
| "scenario_41_step_9.png", |
| "scenario_41_step_10.png", |
| "scenario_41_step_11.png", |
| "scenario_41_step_12.png", |
| "scenario_41_step_13.png", |
| "scenario_41_step_14.png", |
| "scenario_41_step_15.png", |
| "scenario_41_step_16.png", |
| "scenario_41_step_17.png", |
| "scenario_41_step_18.png", |
| "scenario_41_step_19.png", |
| "scenario_41_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 42, |
| "descriptions": [ |
| "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.2m in front and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 0.7m in front and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 0.2m in front and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 0.3m behind and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 0.8m behind and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.3m behind and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.9m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 2.4m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 2.9m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 3.4m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 3.9m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 4.3m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 4.9m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 5.5m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 6.0m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 6.5m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 7.0m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 7.5m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.4 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 8.1m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 8.6m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 9.1m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_42_step_0.png", |
| "scenario_42_step_1.png", |
| "scenario_42_step_2.png", |
| "scenario_42_step_3.png", |
| "scenario_42_step_4.png", |
| "scenario_42_step_5.png", |
| "scenario_42_step_6.png", |
| "scenario_42_step_7.png", |
| "scenario_42_step_8.png", |
| "scenario_42_step_9.png", |
| "scenario_42_step_10.png", |
| "scenario_42_step_11.png", |
| "scenario_42_step_12.png", |
| "scenario_42_step_13.png", |
| "scenario_42_step_14.png", |
| "scenario_42_step_15.png", |
| "scenario_42_step_16.png", |
| "scenario_42_step_17.png", |
| "scenario_42_step_18.png", |
| "scenario_42_step_19.png", |
| "scenario_42_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 43, |
| "descriptions": [ |
| "The ego vehicle is moving at 10.9 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 11.3m behind and is stationary.\nThere is a red traffic light 40.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.8 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 12.4m behind and is stationary.\nThere is a red traffic light 40.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 8.9m behind and 9.7m to the left and is moving at 10.2 m/s.\nThere is a red traffic light 41.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 8.9m behind and 9.7m to the left and is moving at 10.2 m/s.\nThere is a red traffic light 42.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.5 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 9.0m behind and 9.8m to the left and is moving at 10.2 m/s.\nThere is a red traffic light 43.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.5 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 9.0m behind and 9.7m to the left and is moving at 10.2 m/s.\nThere is a red traffic light 44.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.3 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 9.1m behind and 9.7m to the left and is moving at 10.1 m/s.\nThere is a red traffic light 45.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.1m behind and 9.7m to the left and is moving at 10.1 m/s.\nThere is a red traffic light 45.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.3 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 9.1m behind and 9.8m to the left and is moving at 10.1 m/s.\nThere is a red traffic light 46.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.2 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 9.1m behind and 9.8m to the left and is moving at 10.1 m/s.\nThere is a red traffic light 47.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 11.4m in front and 6.5m to the left and is moving at 7.0 m/s.\nThere is a red traffic light 48.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 11.2m in front and 6.5m to the left and is moving at 6.9 m/s.\nThere is a red traffic light 49.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.8m in front and 6.5m to the left and is moving at 6.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.5m in front and 6.5m to the left and is moving at 6.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.2m in front and 6.5m to the left and is moving at 6.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.9m in front and 6.5m to the left and is moving at 6.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.5m in front and 6.5m to the left and is moving at 6.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.2m in front and 6.5m to the left and is moving at 6.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 8.9m in front and 6.5m to the left and is moving at 6.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 8.5m in front and 6.6m to the left and is moving at 6.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.6 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 8.1m in front and 6.6m to the left and is moving at 6.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_43_step_0.png", |
| "scenario_43_step_1.png", |
| "scenario_43_step_2.png", |
| "scenario_43_step_3.png", |
| "scenario_43_step_4.png", |
| "scenario_43_step_5.png", |
| "scenario_43_step_6.png", |
| "scenario_43_step_7.png", |
| "scenario_43_step_8.png", |
| "scenario_43_step_9.png", |
| "scenario_43_step_10.png", |
| "scenario_43_step_11.png", |
| "scenario_43_step_12.png", |
| "scenario_43_step_13.png", |
| "scenario_43_step_14.png", |
| "scenario_43_step_15.png", |
| "scenario_43_step_16.png", |
| "scenario_43_step_17.png", |
| "scenario_43_step_18.png", |
| "scenario_43_step_19.png", |
| "scenario_43_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 44, |
| "descriptions": [ |
| "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 6.6m behind and 3.2m to the right and is moving at 9.1 m/s.\nThere is a green traffic light 8.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 6.7m behind and 3.3m to the right and is moving at 9.1 m/s.\nThere is a green traffic light 7.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.9 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 6.8m behind and 3.3m to the right and is moving at 9.2 m/s.\nThere is a green traffic light 7.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 6.9m behind and 3.2m to the right and is moving at 9.2 m/s.\nThere is a green traffic light 7.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.0m behind and 3.2m to the right and is moving at 9.2 m/s.\nThere is a green traffic light 7.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.0m behind and 3.2m to the right and is moving at 9.3 m/s.\nThere is a green traffic light 7.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.9 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.1m behind and 3.2m to the right and is moving at 9.3 m/s.\nThere is a green traffic light 7.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.9 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.1m behind and 3.2m to the right and is moving at 9.3 m/s.\nThere is a green traffic light 7.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.9 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.2m behind and 3.2m to the right and is moving at 9.4 m/s.\nThere is a green traffic light 8.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.3m behind and 3.2m to the right and is moving at 9.4 m/s.\nThere is a green traffic light 8.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 9.9 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.3m behind and 3.2m to the right and is moving at 9.4 m/s.\nThere is a green traffic light 9.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.4m behind and 3.2m to the right and is moving at 9.5 m/s.\nThere is a green traffic light 9.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.5m behind and 3.2m to the right and is moving at 9.5 m/s.\nThere is a green traffic light 10.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.5m behind and 3.2m to the right and is moving at 9.6 m/s.\nThere is a green traffic light 11.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.6m behind and 3.2m to the right and is moving at 9.6 m/s.\nThere is a green traffic light 12.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.6m behind and 3.2m to the right and is moving at 9.6 m/s.\nThere is a green traffic light 12.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.7m behind and 3.2m to the right and is moving at 9.7 m/s.\nThere is a green traffic light 13.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.8m behind and 3.2m to the right and is moving at 9.8 m/s.\nThere is a red traffic light 13.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.8m behind and 3.2m to the right and is moving at 9.8 m/s.\nThere is a red traffic light 12.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.2 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.8m behind and 3.2m to the right and is moving at 9.8 m/s.\nThere is a red traffic light 11.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.2 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.9m behind and 3.2m to the right and is moving at 9.9 m/s.\nThere is a red traffic light 11.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_44_step_0.png", |
| "scenario_44_step_1.png", |
| "scenario_44_step_2.png", |
| "scenario_44_step_3.png", |
| "scenario_44_step_4.png", |
| "scenario_44_step_5.png", |
| "scenario_44_step_6.png", |
| "scenario_44_step_7.png", |
| "scenario_44_step_8.png", |
| "scenario_44_step_9.png", |
| "scenario_44_step_10.png", |
| "scenario_44_step_11.png", |
| "scenario_44_step_12.png", |
| "scenario_44_step_13.png", |
| "scenario_44_step_14.png", |
| "scenario_44_step_15.png", |
| "scenario_44_step_16.png", |
| "scenario_44_step_17.png", |
| "scenario_44_step_18.png", |
| "scenario_44_step_19.png", |
| "scenario_44_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 45, |
| "descriptions": [ |
| "The ego vehicle is moving at 2.7 m/s.\nThe closest vehicle is 2.6m behind and is stationary.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is approaching a slight right turn in approximately 2m.", |
| "The ego vehicle is moving at 2.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.9m behind and is stationary.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is approaching a slight right turn in approximately 2m.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.1m behind and is stationary.\nThe ego vehicle is slightly off its planned route (1.1m).\nThe ego vehicle is approaching a slight right turn in approximately 2m.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.4m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", |
| "The ego vehicle is moving at 2.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.9m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", |
| "The ego vehicle is moving at 2.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", |
| "The ego vehicle is moving at 2.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 13m.", |
| "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 3.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 4.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_45_step_0.png", |
| "scenario_45_step_1.png", |
| "scenario_45_step_2.png", |
| "scenario_45_step_3.png", |
| "scenario_45_step_4.png", |
| "scenario_45_step_5.png", |
| "scenario_45_step_6.png", |
| "scenario_45_step_7.png", |
| "scenario_45_step_8.png", |
| "scenario_45_step_9.png", |
| "scenario_45_step_10.png", |
| "scenario_45_step_11.png", |
| "scenario_45_step_12.png", |
| "scenario_45_step_13.png", |
| "scenario_45_step_14.png", |
| "scenario_45_step_15.png", |
| "scenario_45_step_16.png", |
| "scenario_45_step_17.png", |
| "scenario_45_step_18.png", |
| "scenario_45_step_19.png", |
| "scenario_45_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 46, |
| "descriptions": [ |
| "The ego vehicle is moving at 6.5 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.1m in front and 6.5m to the left and is stationary.\nThere is a green traffic light 21.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.5 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 0.4m in front and 6.5m to the left and is stationary.\nThere is a green traffic light 20.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 0.2m behind and 6.5m to the left and is stationary.\nThere is a green traffic light 20.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 0.8m behind and 6.5m to the left and is stationary.\nThere is a green traffic light 19.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.5m behind and 6.5m to the left and is stationary.\nThere is a green traffic light 18.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 2.1m behind and 6.5m to the left and is stationary.\nThere is a green traffic light 18.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 2.8m behind and 6.5m to the left and is stationary.\nThere is a green traffic light 17.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 6.5m in front and 3.2m to the left and is moving at 7.0 m/s.\nThere is a green traffic light 16.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 6.5m in front and 3.2m to the left and is moving at 7.0 m/s.\nThere is a green traffic light 16.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 6.6m in front and 3.2m to the left and is moving at 7.1 m/s.\nThere is a green traffic light 15.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 6.6m in front and 3.1m to the left and is moving at 7.2 m/s.\nThere is a green traffic light 14.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 2.2m in front and 6.8m to the left and is stationary.\nThere is a green traffic light 14.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.6m in front and 6.8m to the left and is stationary.\nThere is a green traffic light 13.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.8 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.0m in front and 6.8m to the left and is stationary.\nThere is a green traffic light 13.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.8 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 0.3m in front and 6.8m to the left and is stationary.\nThere is a green traffic light 12.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.8 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 0.3m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 11.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.8 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.0m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 11.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.9 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.7m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 10.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.0 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 2.4m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 9.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.9 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.0m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 9.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 7.0 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.7m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 8.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_46_step_0.png", |
| "scenario_46_step_1.png", |
| "scenario_46_step_2.png", |
| "scenario_46_step_3.png", |
| "scenario_46_step_4.png", |
| "scenario_46_step_5.png", |
| "scenario_46_step_6.png", |
| "scenario_46_step_7.png", |
| "scenario_46_step_8.png", |
| "scenario_46_step_9.png", |
| "scenario_46_step_10.png", |
| "scenario_46_step_11.png", |
| "scenario_46_step_12.png", |
| "scenario_46_step_13.png", |
| "scenario_46_step_14.png", |
| "scenario_46_step_15.png", |
| "scenario_46_step_16.png", |
| "scenario_46_step_17.png", |
| "scenario_46_step_18.png", |
| "scenario_46_step_19.png", |
| "scenario_46_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 47, |
| "descriptions": [ |
| "The ego vehicle is moving at 1.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.8m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 1.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_47_step_0.png", |
| "scenario_47_step_1.png", |
| "scenario_47_step_2.png", |
| "scenario_47_step_3.png", |
| "scenario_47_step_4.png", |
| "scenario_47_step_5.png", |
| "scenario_47_step_6.png", |
| "scenario_47_step_7.png", |
| "scenario_47_step_8.png" |
| ], |
| "num_steps": 9 |
| }, |
| { |
| "scenario_id": 48, |
| "descriptions": [ |
| "The ego vehicle is moving at 4.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 45.8m behind and 14.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 6m.", |
| "The ego vehicle is moving at 4.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 44.0m behind and 20.0m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 2m.", |
| "The ego vehicle is moving at 4.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 42.6m behind and 23.6m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", |
| "The ego vehicle is moving at 4.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 42.5m behind and 24.6m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", |
| "The ego vehicle is moving at 4.5 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 42.0m behind and 26.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 5m.", |
| "The ego vehicle is moving at 4.6 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 41.5m behind and 27.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 5m.", |
| "The ego vehicle is moving at 4.7 m/s.\nThe ego vehicle is slightly off its planned route (1.1m).\nThe ego vehicle is approaching a slight right turn in approximately 4m.", |
| "The ego vehicle is moving at 4.8 m/s.\nThe ego vehicle is slightly off its planned route (1.2m).\nThe ego vehicle is approaching a slight right turn in approximately 4m.", |
| "The ego vehicle is moving at 4.9 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 6.7m behind and is stationary.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is approaching a slight right turn in approximately 3m.", |
| "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 7.2m behind and 2.0m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.4m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 7.6m behind and 2.2m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 8.1m behind and 2.4m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.4 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 8.6m behind and 2.6m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.5 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest vehicle is 1.3m behind and 4.1m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.5 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest vehicle is 1.8m behind and 4.1m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.4m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.7 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest vehicle is 2.3m behind and 4.1m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.7 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest vehicle is 2.8m behind and 4.1m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.2m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.8 m/s.\nThe closest vehicle is 3.3m behind and 4.2m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.1m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 5.9 m/s.\nThe closest vehicle is 3.9m behind and 4.2m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.1m).\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.0 m/s.\nThe closest vehicle is 12.3m behind and 3.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 6.1 m/s.\nThe closest vehicle is 12.8m behind and 3.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_48_step_0.png", |
| "scenario_48_step_1.png", |
| "scenario_48_step_2.png", |
| "scenario_48_step_3.png", |
| "scenario_48_step_4.png", |
| "scenario_48_step_5.png", |
| "scenario_48_step_6.png", |
| "scenario_48_step_7.png", |
| "scenario_48_step_8.png", |
| "scenario_48_step_9.png", |
| "scenario_48_step_10.png", |
| "scenario_48_step_11.png", |
| "scenario_48_step_12.png", |
| "scenario_48_step_13.png", |
| "scenario_48_step_14.png", |
| "scenario_48_step_15.png", |
| "scenario_48_step_16.png", |
| "scenario_48_step_17.png", |
| "scenario_48_step_18.png", |
| "scenario_48_step_19.png", |
| "scenario_48_step_20.png" |
| ], |
| "num_steps": 21 |
| }, |
| { |
| "scenario_id": 49, |
| "descriptions": [ |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 11.6m behind and 3.0m to the left and is moving at 7.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.0 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 11.9m behind and 3.0m to the left and is moving at 7.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.2 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 12.2m behind and 2.9m to the left and is moving at 7.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.1 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 12.5m behind and 2.9m to the left and is moving at 7.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 12.8m behind and 2.9m to the left and is moving at 7.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 13.1m behind and 2.9m to the left and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.5 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 13.4m behind and 2.9m to the left and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 13.8m behind and 2.9m to the left and is moving at 7.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 12.7m in front and 6.3m to the left and is moving at 11.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 12.7m in front and 6.4m to the left and is moving at 11.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 8.9m in front and 10.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.8 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 7.8m in front and 10.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.8 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 6.8m in front and 10.4m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 5.7m in front and 10.4m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 4.6m in front and 10.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 3.5m in front and 10.5m to the right and is moving at 0.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 11.0 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 2.4m in front and 10.6m to the right and is moving at 0.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 11.0 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 1.3m in front and 10.7m to the right and is moving at 0.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 11.2 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 0.3m in front and 10.7m to the right and is moving at 0.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 0.8m behind and 10.8m to the right and is moving at 0.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", |
| "The ego vehicle is moving at 11.1 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 1.9m behind and 10.8m to the right and is moving at 0.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." |
| ], |
| "image_files": [ |
| "scenario_49_step_0.png", |
| "scenario_49_step_1.png", |
| "scenario_49_step_2.png", |
| "scenario_49_step_3.png", |
| "scenario_49_step_4.png", |
| "scenario_49_step_5.png", |
| "scenario_49_step_6.png", |
| "scenario_49_step_7.png", |
| "scenario_49_step_8.png", |
| "scenario_49_step_9.png", |
| "scenario_49_step_10.png", |
| "scenario_49_step_11.png", |
| "scenario_49_step_12.png", |
| "scenario_49_step_13.png", |
| "scenario_49_step_14.png", |
| "scenario_49_step_15.png", |
| "scenario_49_step_16.png", |
| "scenario_49_step_17.png", |
| "scenario_49_step_18.png", |
| "scenario_49_step_19.png", |
| "scenario_49_step_20.png" |
| ], |
| "num_steps": 21 |
| } |
| ] |
