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 TTC: name: TTC priority: 0 max: 2000.0 min: 0.1 MTTC: name: MTTC priority: 0 max: 2000.0 min: 0.1 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 # DRAC: # name: DRAC # priority: 0 # max: 5.0 # min: -2000.0 BTN: name: BTN priority: 0 max: 2.0 min: -2000.0 # STN: # name: STN # 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 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: 1 min: 0 slamAccelerate: name: slamAccelerate priority: 0 max: 1 min: 0 efficient: name: efficient priority: 0 drivingMode: name: drivingMode priority: 0 max_speed: name: maxSpeed priority: 0 max: 60.0 min: 10.0 devation_speed: name: deviationSpeed priority: 0 max: 20.0 min: 0.0 averagedSpeed: name: averagedSpeed priority: 0 max: 60.0 min: 10.0 parkingMode: name: parkingMode priority: 0 stopDuration: name: stopDuration priority: 0 max: 1 min: 0 function: name: function priority: 0 scenario: name: LeftTurnAssist priority: 0 latestWarningDistance_TTC_LST: name: latestWarningDistance_TTC_LST priority: 0 max: 3.1 min: 1.98 earliestWarningDistance_TTC_LST: name: earliestWarningDistance_TTC_LST priority: 0 max: 3.1 min: 1.98 latestWarningDistance_LST: name: latestWarningDistance_LST priority: 0 max: 1000 min: 8.27 earliestWarningDistance_LST: name: earliestWarningDistance_LST priority: 0 max: 1000 min: 12.91 rightWarningSignal_LST: name: rightWarningSignal_LST priority: 0 max: 1 min: 0 traffic: name: traffic priority: 0 #重大违规 12分 majorViolation: name: majorViolation priority: 0 #urbanExpresswayOrHighwaySpeedOverLimit50：表示在高速公路或城市快速路上，机动车驾驶人超速50%以上的； urbanExpresswayOrHighwaySpeedOverLimit50: name: urbanExpresswayOrHighwaySpeedOverLimit50 priority: 0 max: 0 min: 0 #urbanExpresswayOrHighwayReverse：表示在高速公路或城市快速路上，机动车倒车行驶； urbanExpresswayOrHighwayReverse: name: priority: 0 max: 0 min: 0 #urbanExpresswayOrHighwayDrivingAgainst：表示在高速公路或城市快速路上，机动车逆行； urbanExpresswayOrHighwayDrivingAgainst: name: higwayDrivingAgainst priority: 0 max: 0 min: 0 #严重违规 9分 seriousViolation: name: seriousViolation priority: 0 #urbanExpresswayOrHighwayDrivingLaneStopped：表示在高速公路或城市快速路上，机动车行驶车道停车； urbanExpresswayOrHighwayDrivingLaneStopped: name: urbanExpresswayOrHighwayDrivingLaneStopped priority: 0 max: 0 min: 0 #urbanExpresswayOrHighwayEmergencyLaneStopped：表示在高速公路或城市快速路上，机动车应急车道内停车的； urbanExpresswayOrHighwayEmergencyLaneStopped: name: highwayEmergencyLaneStopped priority: 0 max: 0 min: 0 #危险违规 6分 dangerousViolation: name: dangerousViolation priority: 0 #urbanExpresswayEmergencyLaneDriving：非紧急情况时在城市快速路或者高速公路应急车道上行驶的； urbanExpresswayEmergencyLaneDriving: name: urbanExpresswayEmergencyLaneDriving priority: 0 max: 0 min: 0 #trafficSignalViolation：表示在交通信号灯控制的道路上，机动车驾驶人违反规定的； trafficSignalViolation: name: trafficSignalViolation priority: 0 max: 0 min: 0 #urbanExpresswayOrHighwaySpeedOverLimit20to50：表示在高速公路或城市快速路上，机动车驾驶人超速20%-50%的； urbanExpresswayOrHighwaySpeedOverLimit20to50: name: urbanExpresswayOrHighwaySpeedOverLimit20to50 priority: 0 max: 0 min: 0 #generalRoadSpeedOverLimit50：表示在非高速公路或城市快速路，机动车驾驶人超速50%的； generalRoadSpeedOverLimit50: name: generalRoadSpeedOverLimit50 priority: 0 max: 0 min: 0 #一般违规 3分 generalViolation: name: generalViolation priority: 0 #generalRoadSpeedOverLimit20to50：表示在非高速公路或城市快速路，机动车驾驶人超速20%到50%的； generalRoadSpeedOverLimit20to50: name: generalRoadSpeedOverLimit20to50 priority: 0 max: 0 min: 0 #urbanExpresswayOrHighwaySpeedUnderLimit: 对于驾驶机动车在高速公路或城市快速路上行驶低于规定最低时速的,将处以记3分的处罚； urbanExpresswayOrHighwaySpeedUnderLimit: name: UrbanExpresswayOrHighwaySpeedUnderLimit priority: 0 max: 0 min: 0 #illegalDrivingOrParkingAtCrossroads：行经交叉路口不按规定行车或者停车，通过路口遇停止信号时，停在停止线以内或路口内的； illegalDrivingOrParkingAtCrossroads: name: illegalDrivingOrParkingAtCrossroads priority: 0 max: 0 min: 0 # 超车类型 # overtake_on_right: 从前车右侧超车的 overtake_on_right: name: overtake_on_right priority: 0 max: 0 min: 0 # overtake_when_turn_around: 前车掉头时超车的 overtake_when_turn_around: name: overtake_when_turn_around priority: 0 max: 0 min: 0 # overtake_when_passing_car: 前车通过时超车的 overtake_when_passing_car: name: overtake_when_passing_car priority: 0 max: 0 min: 0 # overtake_in_forbid_lane: 在不该占用车道超车的，前方车辆缓慢行驶 overtake_in_forbid_lane: name: overtake_in_forbid_lane priority: 0 max: 0 min: 0 # overtake_in_ramp: 在匝道超车的 overtake_in_ramp: name: overtake_in_ramp priority: 0 max: 0 min: 0 # overtake_in_tunnel: 在隧道超车的 overtake_in_tunnel: name: overtake_in_tunnel priority: 0 max: 0 min: 0 # overtake_on_accelerate_lane: 在加速车道超车 overtake_on_accelerate_lane: name: overtake_on_accelerate_lane priority: 0 max: 0 min: 0 # overtake_on_decelerate_lane: 在减速车道超车 overtake_on_decelerate_lane: name: overtake_on_decelerate_lane priority: 0 max: 0 min: 0 # overtake_in_different_senerios: 在不同路口超车情况超车的 overtake_in_different_senerios: name: overtake_in_different_senerios priority: 0 max: 0 min: 0 # 减速让行违规类 # slow_down_in_crosswalk: 行经人行横道，未减速行驶的 slow_down_in_crosswalk: name: slow_down_in_crosswalk priority: 0 max: 0 min: 0 # avoid_pedestrian_in_crosswalk：遇行人正在通过人行横道时未停车让行的 avoid_pedestrian_in_crosswalk: name: avoid_pedestrian_in_crosswalk priority: 0 max: 0 min: 0 # avoid_pedestrian_in_the_road :行经没有交通信号的道路时，遇行人横过道路未避让的 avoid_pedestrian_in_the_road: name: avoid_pedestrian_in_the_road priority: 0 max: 0 min: 0 # aviod_pedestrian_when_turning:转弯的机动车未让行人先行的 aviod_pedestrian_when_turning: name: aviod_pedestrian_when_turning priority: 0 max: 0 min: 0 # 违反交通标志 # NoStraightThrough: 禁止直行标志地方直行 NoStraightThrough: name: NoStraightThrough priority: 0 max: 0 min: 0 # SpeedLimitViolation: 违反限速规定 SpeedLimitViolation: name: SpeedLimitViolation priority: 0 max: 0 min: 0 # MinimumSpeedLimitViolation: 违反最低限速规定 MinimumSpeedLimitViolation: name: MinimumSpeedLimitViolation priority: 0 max: 0 min: 0 #轻度违规 1分 minorViolation: name: minorViolation priority: 0 noUTurnViolation: #NoU：是“No U-Turn”（禁止掉头）的缩写，表示这一行为是违反禁止掉头规定的。 #TurnViolation：表示这是一种违规行为，即掉头行为本身是不被允许的。 name: noUTurnViolation priority: 0 max: 0 min: 0 #警告违规 0分 warningViolation: name: warningViolation priority: 0 # generalLimit60RoadSpeedOverLimit0to50：驾驶机动车在限速低于60公里/小时的公路上超过规定车速50%以下的，该指标暂时不做 # generalLimit60RoadSpeedOverLimit0to50: # name: generalRoadSpeedOverLimit20to50 # priority: 0 # max: 0 # min: 0 # urbanExpresswayOrHighwaySpeedOverLimit0to20：在高速公路或城市快速路，驾驶机动车超速20%以下的 urbanExpresswayOrHighwaySpeedOverLimit0to20: name: urbanExpresswayOrHighwaySpeedOverLimit0to20 priority: 0 max: 0 min: 0 # urbanExpresswayOrHighwayRideLaneDivider： 机动车在高速公路或者城市快速路上骑轧车行道分界线的 # urbanExpresswayOrHighwayRideLaneDivider: # name: urbanExpresswayOrHighwayRideLaneDivider # priority: 0 # max: 0 # min: 0 # generalRoadIrregularLaneUse：驾驶机动车在高速公路、城市快速路以外的道路上不按规定车道行驶的,这里指的是车辆占用非机动车道； generalRoadIrregularLaneUse: name: generalRoadIrregularLaneUse priority: 0 max: 0 min: 0