Datasets:

Telkwevr
/

Bench2Drive-VL-base

	{
	"key_object_infos": {
	"<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>": {
	"id": "880",
	"Category": "Traffic element",
	"Status": null,
	"Visual_description": "Accident warning sign",
	"Detailed_description": "the accident warning sign",
	"2d_bbox": {
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	},
	"is_role": false,
	"is_dangerous": false,
	"obj_dict": {
	"class": "traffic_sign",
	"id": "880",
	"location": [
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	"rotation": [
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	"bbx_loc": [
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	"center": [
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	"extent": [
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	"world_cord": [
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	],
	"semantic_tags": [],
	"type_id": "static.prop.warningaccident",
	"distance": 13.005538594259503,
	"affects_ego": true,
	"road_id": 45,
	"lane_id": 6,
	"section_id": 0,
	"world2sign": [
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	"position": [
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	"yaw": 1.6461528666836698
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	"position": [
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	"distance": 13.005538594259503,
	"speed": [
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	],
	"same_dir": true,
	"is_sign": true
	}
	},
	"QA": {
	"perception": [
	{
	"Q": "What are the important objects in the scene?",
	"A": "The important object in the scene is the accident warning sign.",
	"C": null,
	"qid": 18,
	"con_up": -1,
	"con_down": -1,
	"cluster": 0,
	"layer": 0,
	"object_tags": [
	"<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>"
	]
	},
	{
	"Q": "What are the important objects in the scene? List them from most to least important.",
	"A": "The accident warning sign(<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>).",
	"C": null,
	"qid": 19,
	"con_up": -1,
	"con_down": -1,
	"cluster": 0,
	"layer": 0,
	"object_tags": [
	"<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>"
	]
	},
	{
	"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": "There's no important vehicle in the current scene.",
	"C": null,
	"qid": 26,
	"con_up": [
	[
	4,
	3
	]
	],
	"con_down": [
	[
	4,
	0
	]
	],
	"cluster": 4,
	"layer": 1,
	"object_tags": []
	},
	{
	"Q": "There's no important vehicle in the current scene. Where on the road are they located?",
	"A": "There's no important vehicle in the current scene.",
	"C": null,
	"qid": 27,
	"con_up": [
	[
	4,
	3
	]
	],
	"con_down": [
	[
	4,
	0
	]
	],
	"cluster": 4,
	"layer": 1,
	"object_tags": []
	},
	{
	"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 are four lanes 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 are four lanes 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 3.",
	"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 white 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 curving to the right.",
	"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, raining moderately.",
	"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": "There's no important vehicle in the current scene. What are the rough moving speed and moving direction of them?",
	"A": "There's no important vehicle in the current scene.",
	"C": null,
	"qid": 24,
	"con_up": [
	[
	4,
	3
	]
	],
	"con_down": [
	[
	4,
	0
	]
	],
	"cluster": 4,
	"layer": 1,
	"object_tags": []
	},
	{
	"Q": "There's no important vehicle in the current scene. What are the exact moving speed and moving direction of them?",
	"A": "There's no important vehicle in the current scene.",
	"C": null,
	"qid": 25,
	"con_up": [
	[
	4,
	3
	]
	],
	"con_down": [
	[
	4,
	0
	]
	],
	"cluster": 4,
	"layer": 1,
	"object_tags": []
	},
	{
	"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 pay particular attention to traffic changing lanes from neighboring 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 is allowed to change lanes to the left.",
	"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": "Vehicles are allowed to change lanes from the left side.",
	"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": "The accident warning sign(<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>).",
	"C": null,
	"qid": 4,
	"con_up": [
	[
	1,
	1
	]
	],
	"con_down": [
	[
	3,
	0
	]
	],
	"cluster": 1,
	"layer": 0,
	"object_tags": [
	"<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>"
	]
	},
	{
	"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, raining moderately. The moderate rain causes low visibility, which may affect perception results. The moderate rain and the puddles on the road 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 puddles 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. There's no important vehicle in the current scene. Among them, please identify those that may overlap with the ego vehicle's path and provide reasons for the overlap.",
	"A": "There's no important vehicle, so none of them potentially crossing the path of ego vehicle now.",
	"C": null,
	"qid": 28,
	"con_up": [
	[
	4,
	3
	]
	],
	"con_down": [
	[
	4,
	0
	]
	],
	"cluster": 4,
	"layer": 1,
	"object_tags": []
	},
	{
	"Q": "The ego vehicle follows the road. There's no important vehicle in the current scene. Among them, please identify those that may overlap with the ego vehicle's path.",
	"A": "There's no important vehicle, so none of them potentially crossing the path of ego vehicle now.",
	"C": null,
	"qid": 29,
	"con_up": [
	[
	4,
	3
	]
	],
	"con_down": [
	[
	4,
	0
	]
	],
	"cluster": 4,
	"layer": 1,
	"object_tags": []
	},
	{
	"Q": "The ego vehicle follows the road. There's no important vehicle in the current scene. Among them, identify those that may overlap with the ego vehicle's path and the actions that could lead to a collision.",
	"A": "There's no important vehicle, so none of them potentially crossing the path of ego vehicle now.",
	"C": null,
	"qid": 46,
	"con_up": [
	[
	4,
	3
	]
	],
	"con_down": [
	[
	4,
	0
	]
	],
	"cluster": 4,
	"layer": 1,
	"object_tags": []
	},
	{
	"Q": "The ego vehicle follows the road. There's no important vehicle in the current scene. 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": "There's no important vehicle, so none of them potentially crossing the path of ego vehicle now.",
	"C": null,
	"qid": 47,
	"con_up": [
	[
	4,
	3
	]
	],
	"con_down": [
	[
	4,
	0
	]
	],
	"cluster": 4,
	"layer": 1,
	"object_tags": []
	},
	{
	"Q": "What is current time and weather? What should the ego vehicle do according to them?",
	"A": "It is noon, raining moderately. The moderate rain causes low visibility, which may affect perception results, please drive cautiously to handle unexpected situations. The moderate rain and the puddles on the road 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 puddles 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": "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": "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": "No, the ego vehicle can stay on its current lane.",
	"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": "What should the ego vehicle do based on the accident warning?",
	"A": "The ego vehicle should slow down and maybe change lane later because of the accident ahead.",
	"C": null,
	"qid": 9,
	"con_up": [
	[
	6,
	0
	]
	],
	"con_down": [
	[
	1,
	0
	]
	],
	"cluster": 1,
	"layer": 1,
	"object_tags": [
	"<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>"
	]
	},
	{
	"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": "The list of traffic lights and signs affecting the ego vehicle in current scene is: the accident warning(<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>). Based on these traffic signs, what actions should the ego vehicle take respectively?",
	"A": "Based on the accident warning(<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>), the ego vehicle should slow down and maybe change lane later because of the accident ahead.",
	"C": null,
	"qid": 14,
	"con_up": [
	[
	6,
	0
	]
	],
	"con_down": [
	[
	1,
	0
	]
	],
	"cluster": 1,
	"layer": 1,
	"object_tags": [
	"<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>"
	]
	},
	{
	"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": "The accident warning(<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>). Based on it, the ego vehicle should slow down and maybe change lane later because of the accident ahead.",
	"C": null,
	"qid": 15,
	"con_up": [
	[
	6,
	0
	]
	],
	"con_down": [
	[
	1,
	0
	]
	],
	"cluster": 1,
	"layer": 1,
	"object_tags": [
	"<c880<CAM_FRONT,1314.6,499.8><CAM_FRONT_RIGHT,20.8,505.8>>"
	]
	}
	],
	"behaviour": [
	{
	"Q": "What is the correct action for the ego vehicle to take now?",
	"A": "The ego vehicle should continue driving along the current lane. Additionaly, since the current lane curves to the right, the ego vehicle should steer right based on the curvature shown in the image.",
	"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\": [0.05, -0.0], \"1.0s\": [1.13, 0.0], \"1.5s\": [3.74, 0.0], \"2.0s\": [7.8, 0.08], \"2.5s\": [12.01, 0.33], \"3.0s\": [16.33, 0.74], \"3.5s\": [20.38, 1.2], \"4.0s\": [24.47, 1.77]}",
	"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, ACCELERATE",
	"C": null,
	"qid": 50,
	"con_up": -1,
	"con_down": -1,
	"cluster": 3,
	"layer": 1,
	"object_tags": []
	}
	]
	},
	"extra_flags": {
	"ego_speed": 9.082981850290336e-07,
	"change_lane_flag": false,
	"change_lane_gt": false,
	"speed_cmd": "ACCELERATE",
	"direction_cmd": "FOLLOW_LANE",
	"speed_change_gt": "Accelerate",
	"waiting_for_red_light": false,
	"is_trivial_case": false
	},
	"image_paths": {
	"CAM_FRONT": "./.worker_0_cache/Accident_Town04_Route160_Weather3/Accident_Town04_Route160_Weather3/camera/rgb_front/00000.jpg",
	"CAM_FRONT_LEFT": "./.worker_0_cache/Accident_Town04_Route160_Weather3/Accident_Town04_Route160_Weather3/camera/rgb_front_left/00000.jpg",
	"CAM_FRONT_RIGHT": "./.worker_0_cache/Accident_Town04_Route160_Weather3/Accident_Town04_Route160_Weather3/camera/rgb_front_right/00000.jpg",
	"CAM_BACK": "./.worker_0_cache/Accident_Town04_Route160_Weather3/Accident_Town04_Route160_Weather3/camera/rgb_back/00000.jpg",
	"CAM_BACK_LEFT": "./.worker_0_cache/Accident_Town04_Route160_Weather3/Accident_Town04_Route160_Weather3/camera/rgb_back_left/00000.jpg",
	"CAM_BACK_RIGHT": "./.worker_0_cache/Accident_Town04_Route160_Weather3/Accident_Town04_Route160_Weather3/camera/rgb_back_right/00000.jpg"
	}
	}