zhaoyuan_pre_acceptance/config/metric_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
    TTC:
      name: TTC
      priority: 0
      max: 2000.0
      min: 2.86
    MTTC:
      name: MTTC
      priority: 0
      max: 2000.0
      min: 0.8
    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: 1000
      min: 0
    earliestWarningDistance_TTC_LST:
      name: earliestWarningDistance_TTC_LST
      priority: 0
      max: 1000
      min: 0
    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