Traffic Scenarios

Agents will experience multiple instances of 10 traffic scenarios selected from the NHTSA pre-crash typology.


Traffic Scenario 01: Control loss without previous action.
The ego-vehicle loses control due to bad conditions on the road
and it must recover, coming back to its original lane.


Traffic Scenario 02: Longitudinal control after leading vehicle’s brake.
The leading vehicle decelerates suddenly due to an obstacle and the
ego-vehicle must perform an emergency brake or an avoidance maneuver.


Traffic Scenario 03: Obstacle avoidance without prior action.
The ego-vehicle encounters an obstacle / unexpected entity on the road
and must perform an emergency brake or an avoidance maneuver.


Traffic Scenario 04: Obstacle avoidance with prior action.
While performing a maneuver, the ego-vehicle finds an obstacle on
the road and must perform an emergency brake or an avoidance maneuver.


Traffic Scenario 05: Lane changing to evade slow leading vehicle.
The ego-vehicle performs a lane changing to evade a leading vehicle,
which is moving too slowly.


Traffic Scenario 06: Vehicle passing dealing with oncoming traffic.
The ego-vehicle must go around a blocking object using the opposite lane,
yielding to oncoming traffic.


Traffic Scenario 07: Crossing traffic running a red light at an intersection.
The ego-vehicle is going straight at an intersection but a crossing vehicle
runs a red light, forcing the ego-vehicle to avoid the collision.


Traffic Scenario 08: Unprotected left turn at intersection with oncoming traffic.
The ego-vehicle is performing an unprotected left turn at an intersection,
yielding to oncoming traffic.


Traffic Scenario 09: Right turn at an intersection with crossing traffic.
The ego-vehicle is performing a right turn at an intersection, yielding
to crossing traffic.


Traffic Scenario 10: Crossing negotiation at an unsignalized intersection.
The ego-vehicle needs to negotiate with other vehicles to cross an unsignalized
intersection. In this situation it is assumed that the first to enter
the intersection has priority.