The scenario realizes a common driving behavior, in which the user-controlled ego vehicle follows a leading car driving down a given road in Town01. At some point the leading car slows down and finally stops. The ego vehicle has to react accordingly to avoid a collision. The scenario ends either via a timeout, or if the ego vehicle stopped close enough to the leading vehicle
This scenario is very similar to 'FollowLeadingVehicle'. The only difference is, that in front of the leading vehicle is a (hidden) obstacle that blocks the way.
In this scenario the ego vehicle takes a right turn from an intersection where a cyclist suddenly drives into the way of the ego vehicle,which has to stop accordingly. After some time, the cyclist clears the road, such that ego vehicle can continue driving.
This scenario is similar to 'VehicleTurningRight'. The differnce is that the ego vehicle takes a left turn from an intersection.
The following scenarios take place in Town01. Hence, the CARLA server has to be started with Town03, e.g. when not using manual-mode: CarlaUE4.sh /Game/Carla/Maps/Town03 -benchmark -fps=20 -windowed
In this scenario an illegal behavior at an intersection is tested. An other vehicle waits at an intersection, but illegally runs a red traffic light. The approaching ego vehicle has to handle this situation correctly, i.e. despite of a green traffic light, it has to stop and wait until the intersection is clear again. Afterwards, it should continue driving.
In this scenario a cyclist is stationary waiting in the middle of the road and blocking the way for the ego vehicle. Hence, the ego vehicle has to stop in front of the cyclist.
This is similar to 'StationaryObjectCrossing', but with the difference that the cyclist is dynamic. It suddenly drives into the way of the ego vehicle, which has to stop accordingly. After some time, the cyclist will clear the road, such that the ego vehicle can continue driving.
This scenario tests negotiation between two vehicles crossing cross each other through a junction without signal. The ego vehicle is passing through a junction without traffic lights And encounters another vehicle passing across the junction. The ego vehicle has to avoid collision and navigate accross the junction to succeed.
In this scenario control loss of a vehicle is tested due to bad road conditions, etc and it checks whether the vehicle is regained its control and corrected its course.