zhaoyuan/config/all_metrics_config.yaml

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