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Bench2Drive-VL-base / AccidentTwoWays_Town12_Route1453_Weather12 /00200.json
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 "extent": [
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 "world_cord": [
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 ],
 "semantic_tags": [
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 ],
 "type_id": "vehicle.nissan.patrol_2021",
 "color": "0,38,105",
 "base_type": "car",
 "num_points": 27,
 "distance": 23.915420943530748,
 "speed": 0.5258508604755338,
 "brake": 0.0,
 "light_state": "131",
 "road_id": 769,
 "lane_id": 1,
 "section_id": 0,
 "world2vehicle": [
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 ],
 [
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 ],
 [
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 ],
 "position": [
 -22.14084000676644,
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 ],
 "yaw": 0.45945041547323323,
 "color_rgb": null,
 "color_name": null,
 "lane_type": 2,
 "lane_type_str": "Driving",
 "is_in_junction": false,
 "junction_id": -1,
 "distance_to_junction": 81.69786071777344,
 "next_junction_id": 2458,
 "next_road_ids": [
 2460
 ],
 "next_next_road_ids": [
 868
 ],
 "same_road_as_ego": true,
 "same_direction_as_ego": false,
 "lane_relative_to_ego": -1,
 "steer": -0.0012522498475025332,
 "vehicle_cuts_in": false
 },
 "position": [
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 ],
 "distance": 23.915420943530748,
 "speed": [
 -22.14084000676644,
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 ],
 "same_dir": false,
 "is_sign": false
 }
 },
 "QA": {
 "perception": [
 {
 "Q": "What are the important objects in the scene?",
 "A": "The important objects in the scene are the gray car, the black car and the silver car to the front right of the ego vehicle and the silver car and the navy car to the rear left.",
 "C": null,
 "qid": 18,
 "con_up": -1,
 "con_down": -1,
 "cluster": 0,
 "layer": 0,
 "object_tags": [
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>",
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>",
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>",
 "<c26983<CAM_BACK,1006.6,514.5>>",
 "<c26986<CAM_BACK,1048.8,463.2>>"
 ]
 },
 {
 "Q": "What are the important objects in the scene? List them from most to least important.",
 "A": "The gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>), the silver car to the rear left(<c26983<CAM_BACK,1006.6,514.5>>), the navy car to the rear left(<c26986<CAM_BACK,1048.8,463.2>>), the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>), the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>).",
 "C": null,
 "qid": 19,
 "con_up": -1,
 "con_down": -1,
 "cluster": 0,
 "layer": 0,
 "object_tags": [
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>",
 "<c26983<CAM_BACK,1006.6,514.5>>",
 "<c26986<CAM_BACK,1048.8,463.2>>",
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>",
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>"
 ]
 },
 {
 "Q": "Where on the road is the silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) located?",
 "A": "The silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) is on the same road driving on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle.",
 "C": null,
 "qid": 20,
 "con_up": [
 [
 4,
 1
 ],
 [
 4,
 2
 ],
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 3,
 0
 ],
 [
 3,
 2
 ],
 [
 3,
 3
 ]
 ],
 "cluster": 4,
 "layer": 0,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>"
 ]
 },
 {
 "Q": "Where on the road is the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) located?",
 "A": "The silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) is on the same road stops on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle.",
 "C": null,
 "qid": 20,
 "con_up": [
 [
 4,
 1
 ],
 [
 4,
 2
 ],
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 3,
 0
 ],
 [
 3,
 2
 ],
 [
 3,
 3
 ]
 ],
 "cluster": 4,
 "layer": 0,
 "object_tags": [
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>"
 ]
 },
 {
 "Q": "Where on the road is the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) located?",
 "A": "The black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) is on the same road stops on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle.",
 "C": null,
 "qid": 20,
 "con_up": [
 [
 4,
 1
 ],
 [
 4,
 2
 ],
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 3,
 0
 ],
 [
 3,
 2
 ],
 [
 3,
 3
 ]
 ],
 "cluster": 4,
 "layer": 0,
 "object_tags": [
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>"
 ]
 },
 {
 "Q": "Where on the road is the navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) located?",
 "A": "The navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) is on the same road driving on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle.",
 "C": null,
 "qid": 20,
 "con_up": [
 [
 4,
 1
 ],
 [
 4,
 2
 ],
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 3,
 0
 ],
 [
 3,
 2
 ],
 [
 3,
 3
 ]
 ],
 "cluster": 4,
 "layer": 0,
 "object_tags": [
 "<c26986<CAM_BACK,1048.8,463.2>>"
 ]
 },
 {
 "Q": "Where on the road is the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) located?",
 "A": "The gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) is on the same road stops on the lane of the ego vehicle.",
 "C": null,
 "qid": 20,
 "con_up": [
 [
 4,
 1
 ],
 [
 4,
 2
 ],
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 3,
 0
 ],
 [
 3,
 2
 ],
 [
 3,
 3
 ]
 ],
 "cluster": 4,
 "layer": 0,
 "object_tags": [
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "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 silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), which is on the same road driving on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle. The silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>), which is on the same road stops on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle. The black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>), which is on the same road stops on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle. The navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), which is on the same road driving on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle. The gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>), which is on the same road stops on the lane of the ego vehicle.",
 "C": null,
 "qid": 26,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>",
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>",
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>",
 "<c26986<CAM_BACK,1048.8,463.2>>",
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "The list of important vehicles in the current scene is 'the silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>), the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>), the navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>).' Where on the road are they located?",
 "A": "The silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) is on the same road driving on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle. The silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) is on the same road stops on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle. The black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) is on the same road stops on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle. The navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) is on the same road driving on the other side, but the vehicle is driving on wrong side. It is one lane to the right of the ego vehicle. The gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) is on the same road stops on the lane of the ego vehicle.",
 "C": null,
 "qid": 27,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>",
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>",
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>",
 "<c26986<CAM_BACK,1048.8,463.2>>",
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "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 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": "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 noon, foggy.",
 "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": "No, there is no obstacle on the current route.",
 "C": null,
 "qid": 11,
 "con_up": [
 [
 3,
 8
 ]
 ],
 "con_down": -1,
 "cluster": 3,
 "layer": 9,
 "object_tags": []
 },
 {
 "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 gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) going?",
 "A": "The gray car(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) is going straight.",
 "C": null,
 "qid": 17,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "What is the moving status of the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>)?",
 "A": "The gray car(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) is not moving.",
 "C": null,
 "qid": 16,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 2,
 "object_tags": [
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "Where is the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) going?",
 "A": "The black car(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) is going straight.",
 "C": null,
 "qid": 17,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>"
 ]
 },
 {
 "Q": "What is the moving status of the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>)?",
 "A": "The black car(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) is not moving.",
 "C": null,
 "qid": 16,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 2,
 "object_tags": [
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>"
 ]
 },
 {
 "Q": "Where is the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) going?",
 "A": "The silver car(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) is going straight.",
 "C": null,
 "qid": 17,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>"
 ]
 },
 {
 "Q": "What is the moving status of the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>)?",
 "A": "The silver car(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) is not moving.",
 "C": null,
 "qid": 16,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 2,
 "object_tags": [
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>"
 ]
 },
 {
 "Q": "What is the rough moving speed and moving direction of silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>)?",
 "A": "The silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) is driving slowly in the same 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": [
 "<c26983<CAM_BACK,1006.6,514.5>>"
 ]
 },
 {
 "Q": "What is the exact moving speed and moving direction of silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>)?",
 "A": "The silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) is driving at the speed of 3.9 m/s, going straight.",
 "C": null,
 "qid": 22,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>"
 ]
 },
 {
 "Q": "What is the rough moving speed and moving direction of silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>)?",
 "A": "The silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) is not moving, going straight.",
 "C": null,
 "qid": 21,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>"
 ]
 },
 {
 "Q": "What is the exact moving speed and moving direction of silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>)?",
 "A": "The silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) is driving at the speed of 0.0 m/s, going straight.",
 "C": null,
 "qid": 22,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>"
 ]
 },
 {
 "Q": "What is the rough moving speed and moving direction of black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>)?",
 "A": "The black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) is not moving, going straight.",
 "C": null,
 "qid": 21,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>"
 ]
 },
 {
 "Q": "What is the exact moving speed and moving direction of black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>)?",
 "A": "The black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) is driving at the speed of 0.0 m/s, going straight.",
 "C": null,
 "qid": 22,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>"
 ]
 },
 {
 "Q": "What is the rough moving speed and moving direction of navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>)?",
 "A": "The navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) is driving slowly in the same 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": [
 "<c26986<CAM_BACK,1048.8,463.2>>"
 ]
 },
 {
 "Q": "What is the exact moving speed and moving direction of navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>)?",
 "A": "The navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) is driving at the speed of 0.5 m/s, going straight.",
 "C": null,
 "qid": 22,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26986<CAM_BACK,1048.8,463.2>>"
 ]
 },
 {
 "Q": "What is the rough moving speed and moving direction of gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>)?",
 "A": "The gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) is not moving, going straight.",
 "C": null,
 "qid": 21,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "What is the exact moving speed and moving direction of gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>)?",
 "A": "The gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) is driving at the speed of -0.0 m/s, going straight.",
 "C": null,
 "qid": 22,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "The list of important vehicles in the current scene is 'the silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>), the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>), the navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>).' What are the rough moving speed and moving direction of them?",
 "A": "The silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) is driving slowly in the same direction of the ego vehicle, going straight. The silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) is not moving, going straight. The black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) is not moving, going straight. The navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) is driving slowly in the same direction of the ego vehicle, going straight. The gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) is not moving, going straight.",
 "C": null,
 "qid": 24,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>",
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>",
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>",
 "<c26986<CAM_BACK,1048.8,463.2>>",
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "The list of important vehicles in the current scene is 'the silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>), the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>), the navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>).' What are the exact moving speed and moving direction of them?",
 "A": "The silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) is driving at the speed of 3.9 m/s, going straight. The silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) is driving at the speed of 0.0 m/s, going straight. The black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) is driving at the speed of 0.0 m/s, going straight. The navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) is driving at the speed of 0.5 m/s, going straight. The gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) is driving at the speed of -0.0 m/s, going straight.",
 "C": null,
 "qid": 25,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>",
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>",
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>",
 "<c26986<CAM_BACK,1048.8,463.2>>",
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "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 and for the parking lane. The ego vehicle should pay particular attention to traffic in the right-hand lane and wait for a gap to change lanes. The ego vehicle should pay special attention to oncoming traffic in the same lane, as we are temporarily driving in the wrong direction, which is extremely dangerous!",
 "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. But it could change to the parking lane on the right side of the 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. But vehicles that are parked on the right side of the road are allowed to change lanes into the ego lane.",
 "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 noon, foggy. The fog causes low visibility, which may affect perception results.",
 "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": "There's no serious potential hazard apart from them.",
 "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 silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) potentially crossing the path of the ego vehicle? If so, why?",
 "A": "Yes, the silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) is in the right 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": [
 "<c26983<CAM_BACK,1006.6,514.5>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) potentially crossing the path of the ego vehicle? If so, why? And what action can lead to a collision?",
 "A": "Yes, the silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) is in the right lane which ego vehicle wants to change onto, and the collision will happen if the ego vehicle changes to the right lane but drives too slowly.",
 "C": null,
 "qid": 48,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>) 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 right lane but drives too slowly.",
 "C": null,
 "qid": 49,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) potentially crossing the path of the ego vehicle? If so, why?",
 "A": "No, the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) is not crossing paths with the ego vehicle.",
 "C": null,
 "qid": 23,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) potentially crossing the path of the ego vehicle? If so, why? And what action can lead to a collision?",
 "A": "No, the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) is not crossing paths with the ego vehicle.",
 "C": null,
 "qid": 48,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) potentially crossing the path of the ego vehicle? If so, what action can lead to a collision?",
 "A": "No, the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>) is not crossing paths with the ego vehicle.",
 "C": null,
 "qid": 49,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) potentially crossing the path of the ego vehicle? If so, why?",
 "A": "No, the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) is not crossing paths with the ego vehicle.",
 "C": null,
 "qid": 23,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) potentially crossing the path of the ego vehicle? If so, why? And what action can lead to a collision?",
 "A": "No, the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) is not crossing paths with the ego vehicle.",
 "C": null,
 "qid": 48,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) potentially crossing the path of the ego vehicle? If so, what action can lead to a collision?",
 "A": "No, the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>) is not crossing paths with the ego vehicle.",
 "C": null,
 "qid": 49,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) potentially crossing the path of the ego vehicle? If so, why?",
 "A": "Yes, the navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) is in the right 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": [
 "<c26986<CAM_BACK,1048.8,463.2>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) potentially crossing the path of the ego vehicle? If so, why? And what action can lead to a collision?",
 "A": "Yes, the navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) is in the right lane which ego vehicle wants to change onto, and the collision will happen if the ego vehicle changes to the right lane but drives too slowly.",
 "C": null,
 "qid": 48,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26986<CAM_BACK,1048.8,463.2>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>) 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 right lane but drives too slowly.",
 "C": null,
 "qid": 49,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26986<CAM_BACK,1048.8,463.2>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) potentially crossing the path of the ego vehicle? If so, why?",
 "A": "Yes, the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) is driving towards the ego vehicle when the ego vehicle is driving in opposite lane, this is extremely dangerous, 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": [
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) potentially crossing the path of the ego vehicle? If so, why? And what action can lead to a collision?",
 "A": "Yes, the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) is driving towards the ego vehicle when the ego vehicle is driving in opposite lane, this is extremely dangerous, and the collision will happen if the ego vehicle keeps driving in the opposite lane without changing back as soon as possible.",
 "C": null,
 "qid": 48,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. Is gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>) 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 in the opposite lane without changing back as soon as possible.",
 "C": null,
 "qid": 49,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>), the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>), the navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>).' Among them, please identify those that may overlap with the ego vehicle's path and provide reasons for the overlap.",
 "A": "The silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), because it is in the right lane which ego vehicle wants to change onto. The navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), because it is in the right lane which ego vehicle wants to change onto. The gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>), because it is driving towards the ego vehicle when the ego vehicle is driving in opposite lane, this is extremely dangerous.",
 "C": null,
 "qid": 28,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>",
 "<c26986<CAM_BACK,1048.8,463.2>>",
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>), the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>), the navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>).' Among them, please identify those that may overlap with the ego vehicle's path.",
 "A": "The silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), the navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>).",
 "C": null,
 "qid": 29,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>",
 "<c26986<CAM_BACK,1048.8,463.2>>",
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>), the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>), the navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>).' Among them, identify those that may overlap with the ego vehicle's path and the actions that could lead to a collision.",
 "A": "The silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), the collision will happen if the ego vehicle changes to the right lane but drives too slowly. The navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), the collision will happen if the ego vehicle changes to the right lane but drives too slowly. The gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>), the collision will happen if the ego vehicle keeps driving in the opposite lane without changing back as soon as possible.",
 "C": null,
 "qid": 46,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>",
 "<c26986<CAM_BACK,1048.8,463.2>>",
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), the silver car that is to the front right of the ego vehicle(<c26945<CAM_FRONT_RIGHT,441.8,566.6><CAM_FRONT,1836.6,605.6>>), the black car that is to the front right of the ego vehicle(<c26946<CAM_FRONT_RIGHT,354.8,527.1><CAM_FRONT,1644.2,541.0>>), the navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), the gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>).' 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 silver car that is to the rear left of the ego vehicle(<c26983<CAM_BACK,1006.6,514.5>>), because it is in the right lane which ego vehicle wants to change onto, and the collision will happen if the ego vehicle changes to the right lane but drives too slowly. The navy SUV that is to the rear left of the ego vehicle(<c26986<CAM_BACK,1048.8,463.2>>), because it is in the right lane which ego vehicle wants to change onto, and the collision will happen if the ego vehicle changes to the right lane but drives too slowly. The gray car that is to the front right of the ego vehicle(<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>), because it is driving towards the ego vehicle when the ego vehicle is driving in opposite lane, this is extremely dangerous, and the collision will happen if the ego vehicle keeps driving in the opposite lane without changing back as soon as possible.",
 "C": null,
 "qid": 47,
 "con_up": [
 [
 4,
 3
 ]
 ],
 "con_down": [
 [
 4,
 0
 ]
 ],
 "cluster": 4,
 "layer": 1,
 "object_tags": [
 "<c26983<CAM_BACK,1006.6,514.5>>",
 "<c26986<CAM_BACK,1048.8,463.2>>",
 "<c26989<CAM_FRONT,1341.6,481.3><CAM_FRONT_RIGHT,129.7,482.6>>"
 ]
 },
 {
 "Q": "What is current time and weather? What should the ego vehicle do according to them?",
 "A": "It is noon, foggy. The fog causes low visibility, which may affect perception results, please drive cautiously to handle unexpected situations.",
 "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": "There's no serious potential hazard apart from them.",
 "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": "No, the ego vehicle can stay on its current lane.",
 "C": null,
 "qid": 10,
 "con_up": [
 [
 6,
 0
 ]
 ],
 "con_down": [
 [
 3,
 9
 ]
 ],
 "cluster": 3,
 "layer": 8,
 "object_tags": []
 },
 {
 "Q": "Does the ego vehicle need to change lanes or deviate from the lane for reasons other than the upcoming obstruction? Why?",
 "A": "Yes, the ego vehicle is driving in the opposite direction and must change back to the correct(right) lane since the lane is clear.",
 "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, the ego vehicle is driving in the opposite direction and must change back to the correct(right) lane since the lane is clear.",
 "C": null,
 "qid": 13,
 "con_up": [
 [
 6,
 0
 ]
 ],
 "con_down": [
 [
 1,
 0
 ]
 ],
 "cluster": 1,
 "layer": 1,
 "object_tags": []
 },
 {
 "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": "There is no reason for the ego vehicle to brake.",
 "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": "The ego vehicle is driving in the opposite direction and must change back to the correct(right) lane since the lane is clear.",
 "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\": [2.51, 0.23], \"1.0s\": [5.46, 1.26], \"1.5s\": [8.94, 3.0], \"2.0s\": [13.16, 4.94], \"2.5s\": [17.77, 7.6], \"3.0s\": [21.7, 11.36], \"3.5s\": [25.06, 14.4], \"4.0s\": [28.68, 16.14]}",
 "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": "CHANGE_LANE_RIGHT, ACCELERATE",
 "C": null,
 "qid": 50,
 "con_up": -1,
 "con_down": -1,
 "cluster": 3,
 "layer": 1,
 "object_tags": []
 }
 ]
 },
 "extra_flags": {
 "ego_speed": 4.713786840270086,
 "change_lane_flag": true,
 "change_lane_gt": false,
 "speed_cmd": "ACCELERATE",
 "direction_cmd": "CHANGE_LANE_RIGHT",
 "speed_change_gt": "Accelerate",
 "waiting_for_red_light": false,
 "is_trivial_case": false
 },
 "image_paths": {
 "CAM_FRONT": "./.worker_1_cache/AccidentTwoWays_Town12_Route1453_Weather12/AccidentTwoWays_Town12_Route1453_Weather12/camera/rgb_front/00200.jpg",
 "CAM_FRONT_LEFT": "./.worker_1_cache/AccidentTwoWays_Town12_Route1453_Weather12/AccidentTwoWays_Town12_Route1453_Weather12/camera/rgb_front_left/00200.jpg",
 "CAM_FRONT_RIGHT": "./.worker_1_cache/AccidentTwoWays_Town12_Route1453_Weather12/AccidentTwoWays_Town12_Route1453_Weather12/camera/rgb_front_right/00200.jpg",
 "CAM_BACK": "./.worker_1_cache/AccidentTwoWays_Town12_Route1453_Weather12/AccidentTwoWays_Town12_Route1453_Weather12/camera/rgb_back/00200.jpg",
 "CAM_BACK_LEFT": "./.worker_1_cache/AccidentTwoWays_Town12_Route1453_Weather12/AccidentTwoWays_Town12_Route1453_Weather12/camera/rgb_back_left/00200.jpg",
 "CAM_BACK_RIGHT": "./.worker_1_cache/AccidentTwoWays_Town12_Route1453_Weather12/AccidentTwoWays_Town12_Route1453_Weather12/camera/rgb_back_right/00200.jpg"
 }
}