Functional Scenarios in the Scenario Library

Obstacle Recognition and Response

• Obstacle on the road ahead.
• Stationary vehicle ahead on the road.
• Obstacle after turning left at the intersection.
• Obstacle after turning right at the intersection.

Intersection Encounters

• Oncoming traffic turning right at the intersection ahead.
• Oncoming traffic turning left at the intersection ahead.
• Oncoming traffic going straight at the intersection ahead.
• Traffic turning right on the left side of the intersection ahead.
• Traffic turning left on the left side of the intersection ahead.
• Traffic going straight on the left side of the intersection ahead.
• Traffic turning right on the right side of the intersection ahead.
• Traffic going straight on the right side of the intersection ahead.
• Traffic turning left on the right side of the intersection ahead.
• Three-directional straight-moving vehicles at the intersection ahead.
• Straight-moving vehicles on the right side and oncoming at the intersection ahead.
• Three-directional left-turning vehicles at the intersection ahead.
• Left-turning vehicles on the left and right-turning vehicles on the right at the intersection ahead.

Pedestrian and Non-motor Vehicle Response

• Pedestrian crossing the road at the crosswalk on the right side ahead.
• Pedestrian crossing the road at the crosswalk on the left side ahead.
• Pedestrian walking along the road ahead.
• Pedestrian jaywalking on the left side ahead.
• Bicycle crossing the road at the crosswalk on the right side ahead.
• Bicycle crossing the road at the crosswalk on the left side ahead.
• Bicycle moving straight along the road ahead.
• Bicycles moving straight along the road on both sides ahead.
• Pedestrians jaywalking on both sides ahead.
• Bicycle diagonally crossing the intersection ahead.
• Bicycles diagonally crossing the crosswalk on both sides ahead.
• Motorcycles moving straight and turning right at the intersection ahead.

Surrounding Vehicle Response

• Vehicle merging into the lane from the right ahead.
• Overtaking vehicle merging in from the left rear and cutting in ahead.
• Overtaking vehicle merging in from the right rear and cutting in ahead.
• Vehicle cutting in from the left front into the lane.
• Vehicle cutting out of the current lane ahead.
• Vehicle traveling along the current road ahead.
• Vehicle stopping and moving ahead.
• Vehicle merging into the main road ahead.
• Vehicle entering from a ramp ahead.
• Vehicle reversing ahead.
• Vehicle cutting in from in front of another obstacle.
• Two vehicles cutting into the current lane simultaneously ahead.
• Vehicle cutting in from the left or right due to a slower car ahead.
• Following vehicle accelerating, cutting in, traveling some distance, and cutting out due to a slower car.
• Leading vehicle traveling some distance, encountering a slower car, and cutting out.
• Following vehicle accelerating, cutting in, traveling some distance, and cutting out.

Emergency Avoidance

• Vehicle braking sharply after cutting in ahead.
• Following vehicle braking sharply after cutting in.
• Obstacle after turning left at the intersection.
• Obstacle after turning right at the intersection.
• Ego vehicle losing control.
• Nearby vehicle losing control.
• Leading vehicle braking sharply after traveling some distance.
• Encountering an oncoming vehicle while driving straight.
• Overtaking and encountering an oncoming vehicle.
• Following the leading vehicle turning right and encountering a stationary bicycle at the intersection.
• Turning at a four-way intersection and encountering a bicycle traveling in the opposite direction.
• Ego vehicle slipping and the leading vehicle braking sharply.
• Stationary vehicle ahead after a vehicle cuts out.
• Pedestrian crossing from behind a parked vehicle.
• Pedestrian crossing from behind a pavilion.
• Following the leading vehicle turning right and encountering a pedestrian crossing.
• Straight-moving vehicle running a red light from the left side at a signalized intersection.
• Straight-moving vehicle running a red light from the right side at a signalized intersection.