vehicle: # 车辆参数配置 CAR_WIDTH: 2.065 # 车体宽度（单位：米） CAR_LENGTH: 5.990 # 车体长度（单位：米） CAR_HEIGHT: 2.820 # 车体高度（单位：米）新增 CAR_OFFX: 1.321 # 车辆长度方向参考点到几何中心点的距离（单位：米）新增 RHO: 0.3 # 驾驶员制动反应时间（单位：秒） EGO_ACCEL_MAX: 2.268 # 自车油门最大加速度（单位：m/s²） OBJ_DECEL_MAX: 8 # 前车刹车最大减速度（单位：m/s²） EGO_DECEL_MIN: 0.01 # 自车刹车最小减速度（需确认单位：m/s²） EGO_DECEL_LON_MAX: 5.7869 # 自车纵向刹车最大减速度（单位：m/s²） EGO_DECEL_LAT_MAX: 0 # 自车横向刹车最大减速度（单位：m/s²） EGO_WHEELBASS: 3.8 # 自车轮距（单位：米） T_threshold: T0_threshold: 0 # 表示T0等级的通过阈值 T1_threshold: 2 # 表示T1等级的通过阈值 T2_threshold: 5 # 表示T2等级的通过阈值 safety: name: safety priority: 0 safeTime: name: safetime priority: 0 CustomTTC: name: CustomTTC priority: 0 max: 20.0 min: 3.5 TTC: name: TTC priority: 0 max: 2000.0 min: 2.86 MTTC: name: MTTC priority: 0 max: 2000.0 min: 3.0 THW: name: THW priority: 0 max: 2000.0 min: 1.5 safeDistance: name: safeDistance priority: 0 LonSD: name: LonSD priority: 0 max: 2000.0 min: 10.0 LatSD: name: LatSD priority: 0 max: 2000.0 min: 2.0 safeAcceleration: name: safeAcceleration priority: 0 BTN: name: BTN priority: 0 max: 1.0 min: -2000.0 safeProbability: name: safeProbability priority: 0 collisionRisk: name: collisionRisk priority: 0 max: 10.0 min: 0.0 collisionSeverity: name: collisionSeverity priority: 0 max: 10.0 min: 0.0 user: name: user priority: 0 safeTime: name: safetime priority: 0 CustomTTC: # 新增的三级指标 name: CustomTTC priority: 0 max: 20.0 min: 3.5 comfort: name: comfort priority: 0 comfortLat: name: comfortLat priority: 0 Weaving: name: Weaving priority: 0 max: 0 min: 0 shake: name: shake priority: 0 max: 0 min: 0 comfortLon: name: comfortLon priority: 0 cadence: name: cadence priority: 0 max: 0 min: 0 slamBrake: name: slamBrake priority: 0 max: 0 min: 0 slamAccelerate: name: slamAccelerate priority: 0 max: 0 min: 0 efficient: name: efficient priority: 0 drivingMode: name: drivingMode priority: 0 max_speed: name: maxSpeed priority: 0 max: 0.0 min: 0.0 devation_speed: name: deviationSpeed priority: 0 max: 0.0 min: 0.0 averagedSpeed: name: averagedSpeed priority: 0 max: 80.0 min: 30.0 parkingMode: name: parkingMode priority: 0 stopDuration: name: stopDuration priority: 0 max: 1 min: 0 function: name: function priority: 0 scenario: name: ForwardCollision priority: 0 latestWarningDistance_TTC_LST: name: latestWarningDistance_TTC_LST priority: 0 max: 3.11 min: 1.89 earliestWarningDistance_TTC_LST: name: earliestWarningDistance_TTC_LST priority: 0 max: 3.11 min: 1.89 latestWarningDistance_LST: name: latestWarningDistance_LST priority: 0 max: 17.29 min: 10.51 earliestWarningDistance_LST: name: earliestWarningDistance_LST priority: 0 max: 17.29 min: 10.51 traffic: name: traffic priority: 0 majorViolation: name: majorViolation priority: 0 urbanExpresswayOrHighwaySpeedOverLimit50: name: urbanExpresswayOrHighwaySpeedOverLimit50 priority: 0 max: 0 min: 0 seriousViolation: name: seriousViolation priority: 0 urbanExpresswayOrHighwayDrivingLaneStopped: name: urbanExpresswayOrHighwayDrivingLaneStopped priority: 0 max: 0 min: 0 urbanExpresswayOrHighwayEmergencyLaneStopped: name: urbanExpresswayOrHighwayEmergencyLaneStopped priority: 0 max: 0 min: 0 dangerousViolation: name: dangerousViolation priority: 0 urbanExpresswayEmergencyLaneDriving: name: urbanExpresswayEmergencyLaneDriving priority: 0 max: 0 min: 0 trafficSignalViolation: name: trafficSignalViolation priority: 0 max: 0 min: 0 urbanExpresswayOrHighwaySpeedOverLimit20to50: name: urbanExpresswayOrHighwaySpeedOverLimit20to50 priority: 0 max: 0 min: 0 generalRoadSpeedOverLimit50: name: generalRoadSpeedOverLimit50 priority: 0 max: 0 min: 0 generalViolation: name: generalViolation priority: 0 generalRoadSpeedOverLimit20to50: name: generalRoadSpeedOverLimit20to50 priority: 0 max: 0 min: 0 urbanExpresswayOrHighwaySpeedUnderLimit: name: UrbanExpresswayOrHighwaySpeedUnderLimit priority: 0 max: 0 min: 0 illegalDrivingOrParkingAtCrossroads: name: illegalDrivingOrParkingAtCrossroads priority: 0 max: 0 min: 0 overtake_on_right: name: overtake_on_right priority: 0 max: 0 min: 0 overtake_when_turn_around: name: overtake_when_turn_around priority: 0 max: 0 min: 0 overtake_when_passing_car: name: overtake_when_passing_car priority: 0 max: 0 min: 0 overtake_in_forbid_lane: name: overtake_in_forbid_lane priority: 0 max: 0 min: 0 overtake_in_ramp: name: overtake_in_ramp priority: 0 max: 0 min: 0 overtake_in_tunnel: name: overtake_in_tunnel priority: 0 max: 0 min: 0 overtake_on_accelerate_lane: name: overtake_on_accelerate_lane priority: 0 max: 0 min: 0 overtake_on_decelerate_lane: name: overtake_on_decelerate_lane priority: 0 max: 0 min: 0 overtake_in_different_senerios: name: overtake_in_different_senerios priority: 0 max: 0 min: 0 slow_down_in_crosswalk: name: slow_down_in_crosswalk priority: 0 max: 0 min: 0 avoid_pedestrian_in_crosswalk: name: avoid_pedestrian_in_crosswalk priority: 0 max: 0 min: 0 avoid_pedestrian_in_the_road: name: avoid_pedestrian_in_the_road priority: 0 max: 0 min: 0 avoid_pedestrian_when_turning: name: avoid_pedestrian_when_turning priority: 0 max: 0 min: 0 NoStraightThrough: name: NoStraightThrough priority: 0 max: 0 min: 0 SpeedLimitViolation: name: SpeedLimitViolation priority: 0 max: 0 min: 0 MinimumSpeedLimitViolation: name: MinimumSpeedLimitViolation priority: 0 max: 0 min: 0 minorViolation: name: minorViolation priority: 0 turn_in_forbiden_turn_left_sign: name: turn_in_forbiden_turn_left_sign priority: 0 max: 0 min: 0 turn_in_forbiden_turn_back_sign: name: turn_in_forbiden_turn_back_sign priority: 0 max: 0 min: 0 avoid_pedestrian_when_turn_back: name: avoid_pedestrian_when_turn_back priority: 0 max: 0 min: 0 warningViolation: name: warningViolation priority: 0 urbanExpresswayOrHighwaySpeedOverLimit0to20: name: urbanExpresswayOrHighwaySpeedOverLimit0to20 priority: 0 max: 0 min: 0 urbanExpresswayOrHighwayRideLaneDivider: name: urbanExpresswayOrHighwayRideLaneDivider priority: 0 max: 0 min: 0 generalRoadIrregularLaneUse: name: generalRoadIrregularLaneUse priority: 0 max: 0 min: 0