Example Scenarios
This page explains in detail several representative scenarios that can be performed in MORAI SIM: Drive. Each scenario example consists of an initial condition of actors that are placed into the scene. Once a pre-defined condition is met, actors perform their triggered actions, causing the scenario to progress. It is, of course, up to the ego-vehicle to correctly react to the changing scenario.
Example scenario download
Download the example scenario files attached to this page. Each scenario is described in detail in the following sections.
Trajectory control for the ego-vehicle and surrounding NPC vehicles will be made available in the future
Example 1 - Vehicle comes to a stop
This scenario is intended to emulate vehicles that routinely stop at specific points on the road, such as taxis or buses.
The NPC vehicle initially travels at a given constant speed until it approaches a specific stop point, after which it slows down before eventually stopping at the stop point.
Because of its simplicity, example #1 can be used to quickly check the functionality of all software components.
Example 2 - Automatic emergency braking
Example scenario 2 is an automatic emergency braking (AEB) scenario commonly used in the automotive industry.
Both the ego-vehicle and NPC vehicle start in the same lane, with the ego approaching the NPC at a faster speed. Naturally, the distance between the two vehicles gradually decreases.
When the ego-vehicle has closed the distance with the NPC vehicle to a specific threshold, the NPC vehicle shifts into a braking maneuver and comes to a complete stop.
Example 3 - NPC vehicle cuts in front of the ego-vehicle
In this scenario, an NPC vehicle traveling in another lane cuts in front of the ego-vehicle.
A total of three actor vehicles, NPC 1, NPC 2, and the ego-vehicle, are initialized in the simulation. NPC 1 and the ego-vehicle drive in the same lane, while NPC 2 travels in an adjacent lane. NPC 2 approaches the other two vehicles at a faster speed.
When NPC 2 overtakes the ego-vehicle by a certain distance (e.g. 20 meters), NPC 2 performs a lane change maneuver into the space between NPC 1 and the ego-vehicle.
Scenario demonstration videos
The three different scenarios explained above are demonstrated in the following videos.
Example 1 - Vehicle comes to a stop
Example 2 - Automatic Emergency Braking
Example 3 - Cut-in scenario
Related Pages