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Bench2Drive-VL-base

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Tags:
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Bench2Drive-VL-base / AccidentTwoWays_Town12_Route1102_Weather10 /00155.json
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 {
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"QA": {
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{
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"A": "The important objects in the scene are the black car to the front left of the ego vehicle and the black police car to the front of the ego vehicle.",
"C": null,
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"con_up": -1,
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"object_tags": [
"<c45724<CAM_FRONT,502.8,552.2>>",
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "What are the important objects in the scene? List them from most to least important.",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>).",
"C": null,
"qid": 19,
"con_up": -1,
"con_down": -1,
"cluster": 0,
"layer": 0,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>",
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "Where on the road is the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) located?",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) is on the same road stops in the same direction. It is on the shoulder one lane to the right of the ego vehicle.",
"C": null,
"qid": 20,
"con_up": [
[
4,
1
],
[
4,
2
],
[
4,
3
]
],
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[
3,
0
],
[
3,
2
],
[
3,
3
]
],
"cluster": 4,
"layer": 0,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "Where on the road is the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) located?",
"A": "The black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle.",
"C": null,
"qid": 20,
"con_up": [
[
4,
1
],
[
4,
2
],
[
4,
3
]
],
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3,
0
],
[
3,
2
],
[
3,
3
]
],
"cluster": 4,
"layer": 0,
"object_tags": [
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "What are the important vehicles in the scene and where on the road are they located? List them from most to least important.",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), which is on the same road stops in the same direction. It is on the shoulder one lane to the right of the ego vehicle. The black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>), which is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle.",
"C": null,
"qid": 26,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>",
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "The list of important vehicles in the current scene is 'the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>).' Where on the road are they located?",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) is on the same road stops in the same direction. It is on the shoulder one lane to the right of the ego vehicle. The black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle.",
"C": null,
"qid": 27,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>",
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "Is the ego vehicle at a junction?",
"A": "No, the ego vehicle is not at a junction.",
"C": null,
"qid": 35,
"con_up": [
[
1,
0
],
[
2,
0
],
[
3,
1
],
[
3,
2
],
[
3,
3
],
[
4,
0
]
],
"con_down": -1,
"cluster": 3,
"layer": 0,
"object_tags": []
},
{
"Q": "How many lanes are there in the same direction as the ego car?",
"A": "There is one lane in the same direction.",
"C": null,
"qid": 34,
"con_up": [
[
3,
1
],
[
3,
3
],
[
3,
4
],
[
3,
5
],
[
3,
6
],
[
3,
7
],
[
4,
0
]
],
"con_down": [
[
3,
0
]
],
"cluster": 3,
"layer": 2,
"object_tags": []
},
{
"Q": "How many lanes are there in the opposite direction to the ego car?",
"A": "There is one lane in the opposite direction.",
"C": null,
"qid": 34,
"con_up": [
[
3,
1
],
[
3,
3
],
[
3,
4
],
[
3,
5
],
[
3,
6
],
[
3,
7
],
[
4,
0
]
],
"con_down": [
[
3,
0
]
],
"cluster": 3,
"layer": 2,
"object_tags": []
},
{
"Q": "On which lane is the ego vehicle (left most lane of the lanes going in the same direction is indicated with 0)?",
"A": "The ego vehicle is on lane 0.",
"C": null,
"qid": 33,
"con_up": [
[
3,
1
],
[
3,
4
],
[
3,
5
],
[
3,
6
],
[
4,
0
]
],
"con_down": [
[
3,
0
]
],
"cluster": 3,
"layer": 3,
"object_tags": []
},
{
"Q": "What lane marking is on the left side of the ego car?",
"A": "The lane marking on the left side of the ego car is a yellow broken lane.",
"C": null,
"qid": 32,
"con_up": [
[
3,
5
],
[
3,
6
]
],
"con_down": [
[
3,
2
],
[
3,
3
]
],
"cluster": 3,
"layer": 4,
"object_tags": []
},
{
"Q": "What lane marking is on the right side of the ego car?",
"A": "The lane marking on the right side of the ego car is a white solid lane.",
"C": null,
"qid": 32,
"con_up": [
[
3,
5
],
[
3,
6
]
],
"con_down": [
[
3,
2
],
[
3,
3
]
],
"cluster": 3,
"layer": 4,
"object_tags": []
},
{
"Q": "Describe the current lane's direction.",
"A": "The current lane is going straight.",
"C": null,
"qid": 44,
"con_up": -1,
"con_down": -1,
"cluster": 3,
"layer": 6,
"object_tags": []
},
{
"Q": "Is the ego vehicle affected by a traffic light?",
"A": "No, the ego vehicle is not affected by a traffic light.",
"C": null,
"qid": 5,
"con_up": [
[
2,
1
]
],
"con_down": [
[
3,
0
]
],
"cluster": 2,
"layer": 0,
"object_tags": []
},
{
"Q": "How many pedestrians are there?",
"A": "There are no pedestrians.",
"C": null,
"qid": 1,
"con_up": [
[
6,
0
]
],
"con_down": -1,
"cluster": 5,
"layer": 0,
"object_tags": []
},
{
"Q": "What is current time and weather?",
"A": "It is daytime, near dusk or dawn, raining heavily.",
"C": null,
"qid": 37,
"con_up": -1,
"con_down": -1,
"cluster": 3,
"layer": 1,
"object_tags": []
},
{
"Q": "Is there an obstacle on the current road?",
"A": "Yes, there is an accident on the current road.",
"C": null,
"qid": 11,
"con_up": [
[
3,
8
]
],
"con_down": -1,
"cluster": 3,
"layer": 9,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "What is the current speed limit?",
"A": "There's no speed limit now.",
"C": null,
"qid": 7,
"con_up": [
[
6,
0
]
],
"con_down": [
[
3,
2
]
],
"cluster": 3,
"layer": 7,
"object_tags": []
}
],
"prediction": [
{
"Q": "Where is the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) going?",
"A": "The black car(<c45724<CAM_FRONT,502.8,552.2>>) is going straight.",
"C": null,
"qid": 17,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "What is the moving status of the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>)?",
"A": "The black car(<c45724<CAM_FRONT,502.8,552.2>>) is driving at a normal speed in the opposite direction of the ego vehicle.",
"C": null,
"qid": 16,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 2,
"object_tags": [
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "Where is the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) going?",
"A": "The black police car(<c45680<CAM_FRONT,1088.0,729.2>>) is going straight.",
"C": null,
"qid": 17,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "What is the moving status of the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>)?",
"A": "The black police car(<c45680<CAM_FRONT,1088.0,729.2>>) is not moving.",
"C": null,
"qid": 16,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 2,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "What is the rough moving speed and moving direction of black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>)?",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) is not moving, going straight.",
"C": null,
"qid": 21,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "What is the exact moving speed and moving direction of black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>)?",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) is driving at the speed of 0.0 m/s, going straight.",
"C": null,
"qid": 22,
"con_up": [
[
4,
3
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],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "What is the rough moving speed and moving direction of black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>)?",
"A": "The black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) is driving at a normal speed in the opposite direction of the ego vehicle, going straight.",
"C": null,
"qid": 21,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "What is the exact moving speed and moving direction of black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>)?",
"A": "The black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) is driving at the speed of 7.7 m/s, going straight.",
"C": null,
"qid": 22,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "The list of important vehicles in the current scene is 'the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>).' What are the rough moving speed and moving direction of them?",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) is not moving, going straight. The black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) is driving at a normal speed in the opposite direction of the ego vehicle, going straight.",
"C": null,
"qid": 24,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>",
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "The list of important vehicles in the current scene is 'the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>).' What are the exact moving speed and moving direction of them?",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) is driving at the speed of 0.0 m/s, going straight. The black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) is driving at the speed of 7.7 m/s, going straight.",
"C": null,
"qid": 25,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>",
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "The ego vehicle wants to follow the road. Apart from its lane, which lanes are important to watch out for?",
"A": "The ego vehicle should watch out for traffic in its lane and coming from the oncoming lane. The ego vehicle should pay particular attention to traffic in the left-hand lane and wait for a gap to change lanes.",
"C": null,
"qid": 36,
"con_up": [
[
4,
3
]
],
"con_down": [
[
3,
0
],
[
3,
2
],
[
3,
3
]
],
"cluster": 3,
"layer": 1,
"object_tags": []
},
{
"Q": "In which direction is the ego car allowed to change lanes?",
"A": "The ego vehicle can not change lanes since it is on a one lane road.",
"C": null,
"qid": 31,
"con_up": [
[
6,
0
]
],
"con_down": [
[
3,
2
],
[
3,
3
],
[
3,
4
]
],
"cluster": 3,
"layer": 5,
"object_tags": []
},
{
"Q": "From which side are other vehicles allowed to change lanes into the ego lane?",
"A": "There are no lane changes possible since the ego vehicle is on a one lane road.",
"C": null,
"qid": 30,
"con_up": [
[
6,
0
]
],
"con_down": [
[
3,
2
],
[
3,
3
],
[
3,
4
],
[
3,
5
]
],
"cluster": 3,
"layer": 6,
"object_tags": []
},
{
"Q": "Is the ego vehicle affected by a stop sign?",
"A": "No, the ego vehicle is not affected by a stop sign.",
"C": null,
"qid": 2,
"con_up": [
[
1,
1
]
],
"con_down": [
[
3,
0
]
],
"cluster": 1,
"layer": 0,
"object_tags": []
},
{
"Q": "Is the ego vehicle affected by a speed limit sign?",
"A": "No, the ego vehicle is not affected by a speed limit sign.",
"C": null,
"qid": 3,
"con_up": [
[
1,
1
]
],
"con_down": [
[
3,
0
]
],
"cluster": 1,
"layer": 0,
"object_tags": []
},
{
"Q": "List the traffic signs affecting the ego vehicle in the current scenario.",
"A": "There's no traffic sign affecting the ego vehicle.",
"C": null,
"qid": 4,
"con_up": [
[
1,
1
]
],
"con_down": [
[
3,
0
]
],
"cluster": 1,
"layer": 0,
"object_tags": []
},
{
"Q": "What is the state of the traffic light?",
"A": "There is no traffic light affecting the ego vehicle.",
"C": null,
"qid": 6,
"con_up": [
[
2,
2
]
],
"con_down": [
[
2,
0
]
],
"cluster": 2,
"layer": 1,
"object_tags": []
},
{
"Q": "What is current time and weather? What hazards might it bring?",
"A": "It is daytime, near dusk or dawn, raining heavily. The heavy rain causes low visibility, which may affect perception results. The heavy rain and the road flood may cause vehicles to skid or even lose control.",
"C": null,
"qid": 38,
"con_up": -1,
"con_down": -1,
"cluster": 3,
"layer": 1,
"object_tags": []
},
{
"Q": "Apart from vehicles on the road, visible pedestrians and the weather, what other factors in the current scenario could pose potential hazards?",
"A": "The flood on the road will make vehicle more difficult to control.",
"C": null,
"qid": 40,
"con_up": -1,
"con_down": -1,
"cluster": 3,
"layer": 1,
"object_tags": []
}
],
"planning": [
{
"Q": "The ego vehicle follows the road. Is black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) potentially crossing the path of the ego vehicle? If so, why?",
"A": "Yes, the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) is parked on the ego vehicle's lane, so the ego vehicle should pay attention to not crash into it.",
"C": null,
"qid": 23,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "The ego vehicle follows the road. Is black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) potentially crossing the path of the ego vehicle? If so, why? And what action can lead to a collision?",
"A": "Yes, the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) is parked on the ego vehicle's lane, and the collision will happen if the ego vehicle keeps driving forward in the current lane.",
"C": null,
"qid": 48,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "The ego vehicle follows the road. Is black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>) potentially crossing the path of the ego vehicle? If so, what action can lead to a collision?",
"A": "Yes, the collision will happen if the ego vehicle keeps driving forward in the current lane.",
"C": null,
"qid": 49,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "The ego vehicle follows the road. Is black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) potentially crossing the path of the ego vehicle? If so, why?",
"A": "Yes, the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) is in the opposite lane which ego vehicle wants to change onto, so the ego vehicle should pay attention to not crash into it.",
"C": null,
"qid": 23,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "The ego vehicle follows the road. Is black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) potentially crossing the path of the ego vehicle? If so, why? And what action can lead to a collision?",
"A": "Yes, the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) is in the opposite lane which ego vehicle wants to change onto, and the collision will happen if the ego vehicle changes to the opposite lane immediately.",
"C": null,
"qid": 48,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "The ego vehicle follows the road. Is black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>) potentially crossing the path of the ego vehicle? If so, what action can lead to a collision?",
"A": "Yes, the collision will happen if the ego vehicle changes to the opposite lane immediately.",
"C": null,
"qid": 49,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>).' Among them, please identify those that may overlap with the ego vehicle's path and provide reasons for the overlap.",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), because it is parked on the ego vehicle's lane. The black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>), because it is in the opposite lane which ego vehicle wants to change onto.",
"C": null,
"qid": 28,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>",
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>).' Among them, please identify those that may overlap with the ego vehicle's path.",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>).",
"C": null,
"qid": 29,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>",
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>).' Among them, identify those that may overlap with the ego vehicle's path and the actions that could lead to a collision.",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), the collision will happen if the ego vehicle keeps driving forward in the current lane. The black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>), the collision will happen if the ego vehicle changes to the opposite lane immediately.",
"C": null,
"qid": 46,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>",
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), the black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>).' Among them, identify those that may overlap with the ego vehicle's path, provide reasons for the overlap and the actions that could lead to a collision.",
"A": "The black police car that is to the front of the ego vehicle(<c45680<CAM_FRONT,1088.0,729.2>>), because it is parked on the ego vehicle's lane, and the collision will happen if the ego vehicle keeps driving forward in the current lane. The black car that is to the front left of the ego vehicle(<c45724<CAM_FRONT,502.8,552.2>>), because it is in the opposite lane which ego vehicle wants to change onto, and the collision will happen if the ego vehicle changes to the opposite lane immediately.",
"C": null,
"qid": 47,
"con_up": [
[
4,
3
]
],
"con_down": [
[
4,
0
]
],
"cluster": 4,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>",
"<c45724<CAM_FRONT,502.8,552.2>>"
]
},
{
"Q": "What is current time and weather? What should the ego vehicle do according to them?",
"A": "It is daytime, near dusk or dawn, raining heavily. The heavy rain causes low visibility, which may affect perception results, please drive cautiously to handle unexpected situations. The heavy rain and the road flood may cause vehicles to skid or even lose control, so drive carefully, avoid sudden movements.",
"C": null,
"qid": 39,
"con_up": -1,
"con_down": -1,
"cluster": 3,
"layer": 1,
"object_tags": []
},
{
"Q": "Apart from vehicles on the road, visible pedestrians and the weather, what other factors in the current scenario could pose potential hazards? What strategies should the ego vehicle adopt to address them?",
"A": "The flood on the road will make vehicle more difficult to control, so the ego vehicle should drive cautiously and be prepared for potential control loss.",
"C": null,
"qid": 41,
"con_up": -1,
"con_down": -1,
"cluster": 3,
"layer": 1,
"object_tags": []
},
{
"Q": "Does the ego vehicle need to change lanes or deviate from the lane center due to an upcoming obstruction?",
"A": "The ego vehicle must change to the opposite lane to circumvent the accident.",
"C": null,
"qid": 10,
"con_up": [
[
6,
0
]
],
"con_down": [
[
3,
9
]
],
"cluster": 3,
"layer": 8,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "Does the ego vehicle need to change lanes or deviate from the lane for reasons other than the upcoming obstruction? Why?",
"A": "No, no other reason supports the ego vehicle to change lane.",
"C": null,
"qid": 12,
"con_up": [
[
6,
0
]
],
"con_down": [
[
3,
9
]
],
"cluster": 3,
"layer": 8,
"object_tags": []
},
{
"Q": "Must the ego vehicle change lane or deviate from the lane now? why?",
"A": "Yes, there is an accident on the current road. So the ego vehicle must change to the opposite lane to circumvent the accident. But not now because the target lane is occupied.",
"C": null,
"qid": 13,
"con_up": [
[
6,
0
]
],
"con_down": [
[
1,
0
]
],
"cluster": 1,
"layer": 1,
"object_tags": [
"<c45680<CAM_FRONT,1088.0,729.2>>"
]
},
{
"Q": "What should the ego vehicle do based on the traffic light?",
"A": "There is no traffic light affecting the ego vehicle.",
"C": null,
"qid": 9,
"con_up": [
[
6,
0
]
],
"con_down": [
[
2,
1
]
],
"cluster": 2,
"layer": 2,
"object_tags": []
},
{
"Q": "Does the ego vehicle need to brake? Why?",
"A": "The ego vehicle should stop and wait for a chance because it must invade the left lane, which is occupied, in order to bypass the accident.",
"C": null,
"qid": 8,
"con_up": -1,
"con_down": [
[
1,
1
],
[
2,
2
],
[
3,
5
],
[
3,
6
],
[
3,
7
],
[
3,
8
],
[
4,
3
],
[
5,
0
]
],
"cluster": 6,
"layer": 0,
"object_tags": []
},
{
"Q": "Identify all traffic lights and signs affecting the ego vehicle in current scene. Based on these traffic signs, what actions should the ego vehicle take respectively?",
"A": "There's no traffic light or sign affecting the ego vehicle right now.",
"C": null,
"qid": 15,
"con_up": [
[
6,
0
]
],
"con_down": [
[
1,
0
]
],
"cluster": 1,
"layer": 1,
"object_tags": []
}
],
"behaviour": [
{
"Q": "What is the correct action for the ego vehicle to take now?",
"A": "There is an accident on the current road. So the ego vehicle must change to the opposite lane to circumvent the accident. But not now because the target lane is occupied. The ego vehicle should stop and wait for a chance because it must invade the left lane, which is occupied, in order to bypass the accident.",
"C": null,
"qid": 43,
"con_up": -1,
"con_down": -1,
"cluster": 3,
"layer": 1,
"object_tags": []
},
{
"Q": "Provide your planned trajectory for the ego vehicle using waypoints in the ego vehicle's coordinate system. Generate one waypoint every 0.5 seconds. Example output:\n{\n \"0.5s\": [x1, y1],\n \"1.0s\": [x2, y2],\n \"1.5s\": [x3, y3],\n \"2.0s\": [x4, y4],\n \"2.5s\": [x5, y5],\n \"3.0s\": [x6, y6],\n \"3.5s\": [x7, y7],\n \"4.0s\": [x8, y8],\n}",
"A": "{\"0.5s\": [-0.0, 0.0], \"1.0s\": [-0.0, 0.0], \"1.5s\": [-0.0, 0.0], \"2.0s\": [-0.0, 0.0], \"2.5s\": [-0.0, 0.0], \"3.0s\": [0.02, -0.0], \"3.5s\": [0.35, -0.11], \"4.0s\": [1.18, -0.47]}",
"C": null,
"qid": 42,
"con_up": -1,
"con_down": -1,
"cluster": 3,
"layer": 1,
"object_tags": []
},
{
"Q": "Provide the appropriate behavior for the ego vehicle, which consists of two keys: the Direction key, which can be 'FOLLOW_LANE', 'CHANGE_LANE_LEFT', 'CHANGE_LANE_RIGHT', 'GO_STRAIGHT', 'TURN_LEFT', or 'TURN_RIGHT'; and the Speed key, which can be 'KEEP', 'ACCELERATE', 'DECELERATE', or 'STOP'.",
"A": "FOLLOW_LANE, STOP",
"C": null,
"qid": 50,
"con_up": -1,
"con_down": -1,
"cluster": 3,
"layer": 1,
"object_tags": []
}
]
},
"extra_flags": {
"ego_speed": 0.0,
"change_lane_flag": false,
"change_lane_gt": false,
"speed_cmd": "STOP",
"direction_cmd": "FOLLOW_LANE",
"speed_change_gt": "Constant",
"waiting_for_red_light": false,
"is_trivial_case": false
},
"image_paths": {
"CAM_FRONT": "./.worker_0_cache/AccidentTwoWays_Town12_Route1102_Weather10/AccidentTwoWays_Town12_Route1102_Weather10/camera/rgb_front/00155.jpg",
"CAM_FRONT_LEFT": "./.worker_0_cache/AccidentTwoWays_Town12_Route1102_Weather10/AccidentTwoWays_Town12_Route1102_Weather10/camera/rgb_front_left/00155.jpg",
"CAM_FRONT_RIGHT": "./.worker_0_cache/AccidentTwoWays_Town12_Route1102_Weather10/AccidentTwoWays_Town12_Route1102_Weather10/camera/rgb_front_right/00155.jpg",
"CAM_BACK": "./.worker_0_cache/AccidentTwoWays_Town12_Route1102_Weather10/AccidentTwoWays_Town12_Route1102_Weather10/camera/rgb_back/00155.jpg",
"CAM_BACK_LEFT": "./.worker_0_cache/AccidentTwoWays_Town12_Route1102_Weather10/AccidentTwoWays_Town12_Route1102_Weather10/camera/rgb_back_left/00155.jpg",
"CAM_BACK_RIGHT": "./.worker_0_cache/AccidentTwoWays_Town12_Route1102_Weather10/AccidentTwoWays_Town12_Route1102_Weather10/camera/rgb_back_right/00155.jpg"
}
}