[ { "scenario_id": 0, "descriptions": [ "The ego vehicle is moving at 1.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is moving at 1.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is moving at 1.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is moving at 1.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby." ], "image_files": [ "scenario_0_step_0.png", "scenario_0_step_1.png", "scenario_0_step_2.png", "scenario_0_step_3.png", "scenario_0_step_4.png", "scenario_0_step_5.png", "scenario_0_step_6.png", "scenario_0_step_7.png", "scenario_0_step_8.png", "scenario_0_step_9.png", "scenario_0_step_10.png", "scenario_0_step_11.png", "scenario_0_step_12.png" ], "num_steps": 13 }, { "scenario_id": 1, "descriptions": [ "The ego vehicle is moving at 3.0 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 3.5m behind and is stationary.\nThere is a red traffic light 48.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.9 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 3.8m behind and is stationary.\nThere is a red traffic light 48.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.9 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 4.1m behind and is stationary.\nThere is a red traffic light 47.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.8 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 4.3m behind and is stationary.\nThere is a red traffic light 47.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.3m in front and 3.2m to the left and is moving at 1.6 m/s.\nThere is a red traffic light 47.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.2m in front and 3.2m to the left and is moving at 1.5 m/s.\nThere is a red traffic light 47.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the left and is moving at 1.4 m/s.\nThere is a red traffic light 46.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.0m in front and 3.2m to the left and is moving at 1.4 m/s.\nThere is a red traffic light 46.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.9m in front and 3.2m to the left and is moving at 1.4 m/s.\nThere is a red traffic light 46.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.7m in front and 3.2m to the left and is moving at 1.3 m/s.\nThere is a red traffic light 46.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.6m in front and 3.2m to the left and is moving at 1.2 m/s.\nThere is a red traffic light 45.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.5m in front and 3.3m to the left and is moving at 1.1 m/s.\nThere is a red traffic light 45.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.4m in front and 3.2m to the left and is moving at 1.0 m/s.\nThere is a red traffic light 45.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.3m in front and 3.2m to the left and is moving at 0.9 m/s.\nThere is a red traffic light 45.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.1m in front and 3.3m to the left and is moving at 0.9 m/s.\nThere is a red traffic light 44.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.0m in front and 3.3m to the left and is moving at 0.8 m/s.\nThere is a red traffic light 44.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.9m in front and 3.3m to the left and is moving at 0.8 m/s.\nThere is a red traffic light 44.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.7m in front and 3.3m to the left and is moving at 0.8 m/s.\nThere is a red traffic light 44.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.6m in front and 3.2m to the left and is moving at 0.6 m/s.\nThere is a red traffic light 44.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.5m in front and 3.2m to the left and is moving at 0.5 m/s.\nThere is a red traffic light 43.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.4m in front and 3.2m to the left and is stationary.\nThere is a red traffic light 43.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_1_step_0.png", "scenario_1_step_1.png", "scenario_1_step_2.png", "scenario_1_step_3.png", "scenario_1_step_4.png", "scenario_1_step_5.png", "scenario_1_step_6.png", "scenario_1_step_7.png", "scenario_1_step_8.png", "scenario_1_step_9.png", "scenario_1_step_10.png", "scenario_1_step_11.png", "scenario_1_step_12.png", "scenario_1_step_13.png", "scenario_1_step_14.png", "scenario_1_step_15.png", "scenario_1_step_16.png", "scenario_1_step_17.png", "scenario_1_step_18.png", "scenario_1_step_19.png", "scenario_1_step_20.png" ], "num_steps": 21 }, { "scenario_id": 2, "descriptions": [ "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 24m." ], "image_files": [ "scenario_2_step_0.png", "scenario_2_step_1.png", "scenario_2_step_2.png", "scenario_2_step_3.png", "scenario_2_step_4.png", "scenario_2_step_5.png", "scenario_2_step_6.png", "scenario_2_step_7.png" ], "num_steps": 8 }, { "scenario_id": 3, "descriptions": [ "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 9m.", "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 9m.", "The ego vehicle is moving at 2.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.0m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.0m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.1m).\nThe ego vehicle is approaching a slight right turn in approximately 18m.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is approaching a slight right turn in approximately 16m.", "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is approaching a slight right turn in approximately 14m.", "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.4m).\nThe ego vehicle is approaching a slight right turn in approximately 14m.", "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is approaching a slight right turn in approximately 15m.", "The ego vehicle is moving at 3.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a slight right turn in approximately 16m.", "The ego vehicle is moving at 3.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a slight right turn in approximately 13m.", "The ego vehicle is moving at 3.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.8m).\nThe ego vehicle is approaching a slight right turn in approximately 14m.", "The ego vehicle is moving at 3.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.8m).\nThe ego vehicle is approaching a slight right turn in approximately 12m.", "The ego vehicle is moving at 3.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.9m).\nThe ego vehicle is approaching a slight right turn in approximately 16m.", "The ego vehicle is moving at 3.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (2.0m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (2.0m).\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_3_step_0.png", "scenario_3_step_1.png", "scenario_3_step_2.png", "scenario_3_step_3.png", "scenario_3_step_4.png", "scenario_3_step_5.png", "scenario_3_step_6.png", "scenario_3_step_7.png", "scenario_3_step_8.png", "scenario_3_step_9.png", "scenario_3_step_10.png", "scenario_3_step_11.png", "scenario_3_step_12.png", "scenario_3_step_13.png", "scenario_3_step_14.png", "scenario_3_step_15.png", "scenario_3_step_16.png", "scenario_3_step_17.png", "scenario_3_step_18.png", "scenario_3_step_19.png", "scenario_3_step_20.png" ], "num_steps": 21 }, { "scenario_id": 4, "descriptions": [ "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.9m behind and 3.4m to the left and is moving at 12.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.8m behind and 3.4m to the left and is moving at 12.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.6m behind and 3.5m to the left and is moving at 12.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.8 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.5m behind and 3.4m to the left and is moving at 12.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.8 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.5m behind and 3.5m to the left and is moving at 12.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.8 m/s.\nThere are 5 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 4.3m behind and 3.5m to the left and is moving at 12.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 4.1m behind and 3.5m to the left and is moving at 12.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.8 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 4.0m behind and 3.5m to the left and is moving at 12.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.9m behind and 3.5m to the left and is moving at 12.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.7m behind and 3.5m to the left and is moving at 12.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.6m behind and 3.5m to the left and is moving at 12.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.4m behind and 3.5m to the left and is moving at 12.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.3m behind and 3.5m to the left and is moving at 12.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.1m behind and 3.5m to the left and is moving at 12.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.9m behind and 3.5m to the left and is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.7m behind and 3.5m to the left and is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.4m behind and 3.5m to the left and is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.2m behind and 3.5m to the left and is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.1m behind and 3.5m to the left and is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 2.0m behind and 3.5m to the left and is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.5 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 1.7m behind and 3.5m to the left and is moving at 12.7 m/s.\nThere is a unknown traffic light 49.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_4_step_0.png", "scenario_4_step_1.png", "scenario_4_step_2.png", "scenario_4_step_3.png", "scenario_4_step_4.png", "scenario_4_step_5.png", "scenario_4_step_6.png", "scenario_4_step_7.png", "scenario_4_step_8.png", "scenario_4_step_9.png", "scenario_4_step_10.png", "scenario_4_step_11.png", "scenario_4_step_12.png", "scenario_4_step_13.png", "scenario_4_step_14.png", "scenario_4_step_15.png", "scenario_4_step_16.png", "scenario_4_step_17.png", "scenario_4_step_18.png", "scenario_4_step_19.png", "scenario_4_step_20.png" ], "num_steps": 21 }, { "scenario_id": 5, "descriptions": [ "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_5_step_0.png", "scenario_5_step_1.png", "scenario_5_step_2.png", "scenario_5_step_3.png", "scenario_5_step_4.png", "scenario_5_step_5.png", "scenario_5_step_6.png", "scenario_5_step_7.png" ], "num_steps": 8 }, { "scenario_id": 6, "descriptions": [ "The ego vehicle is moving at 9.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 15.2m in front and 3.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 14.3m in front and 3.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 13.3m in front and 3.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 12.4m in front and 3.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 11.5m in front and 3.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 10.5m in front and 3.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 9.5m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.6m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 7.6m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 6.7m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.7m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.7m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.8m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.8m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.9m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.9m in front and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.0m behind and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.0m behind and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.0m behind and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.9m behind and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.9m behind and 3.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_6_step_0.png", "scenario_6_step_1.png", "scenario_6_step_2.png", "scenario_6_step_3.png", "scenario_6_step_4.png", "scenario_6_step_5.png", "scenario_6_step_6.png", "scenario_6_step_7.png", "scenario_6_step_8.png", "scenario_6_step_9.png", "scenario_6_step_10.png", "scenario_6_step_11.png", "scenario_6_step_12.png", "scenario_6_step_13.png", "scenario_6_step_14.png", "scenario_6_step_15.png", "scenario_6_step_16.png", "scenario_6_step_17.png", "scenario_6_step_18.png", "scenario_6_step_19.png", "scenario_6_step_20.png" ], "num_steps": 21 }, { "scenario_id": 7, "descriptions": [ "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m." ], "image_files": [ "scenario_7_step_0.png", "scenario_7_step_1.png", "scenario_7_step_2.png", "scenario_7_step_3.png", "scenario_7_step_4.png", "scenario_7_step_5.png", "scenario_7_step_6.png", "scenario_7_step_7.png" ], "num_steps": 8 }, { "scenario_id": 8, "descriptions": [ "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 33m." ], "image_files": [ "scenario_8_step_0.png", "scenario_8_step_1.png", "scenario_8_step_2.png", "scenario_8_step_3.png", "scenario_8_step_4.png", "scenario_8_step_5.png", "scenario_8_step_6.png", "scenario_8_step_7.png" ], "num_steps": 8 }, { "scenario_id": 9, "descriptions": [ "The ego vehicle is moving at 6.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 28m.", "The ego vehicle is moving at 6.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", "The ego vehicle is moving at 6.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 25m.", "The ego vehicle is moving at 6.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 24m.", "The ego vehicle is moving at 6.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 24m.", "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 23m.", "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 23m.", "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 22m.", "The ego vehicle is moving at 6.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 21m.", "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 21m.", "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 20m.", "The ego vehicle is moving at 6.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 19m.", "The ego vehicle is moving at 6.5 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 15.1m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 19m.", "The ego vehicle is moving at 6.4 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 15.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 18m.", "The ego vehicle is moving at 6.5 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 16.4m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 17m.", "The ego vehicle is moving at 6.5 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 17.0m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 17m.", "The ego vehicle is moving at 6.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 17m.", "The ego vehicle is moving at 6.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 16m.", "The ego vehicle is moving at 6.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight left turn in approximately 15m." ], "image_files": [ "scenario_9_step_0.png", "scenario_9_step_1.png", "scenario_9_step_2.png", "scenario_9_step_3.png", "scenario_9_step_4.png", "scenario_9_step_5.png", "scenario_9_step_6.png", "scenario_9_step_7.png", "scenario_9_step_8.png", "scenario_9_step_9.png", "scenario_9_step_10.png", "scenario_9_step_11.png", "scenario_9_step_12.png", "scenario_9_step_13.png", "scenario_9_step_14.png", "scenario_9_step_15.png", "scenario_9_step_16.png", "scenario_9_step_17.png", "scenario_9_step_18.png", "scenario_9_step_19.png", "scenario_9_step_20.png" ], "num_steps": 21 }, { "scenario_id": 10, "descriptions": [ "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 48.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 48.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 47.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 46.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 46.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 46.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 46.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 46.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 45.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 45.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 45.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 45.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 44.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 44.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 44.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_10_step_0.png", "scenario_10_step_1.png", "scenario_10_step_2.png", "scenario_10_step_3.png", "scenario_10_step_4.png", "scenario_10_step_5.png", "scenario_10_step_6.png", "scenario_10_step_7.png", "scenario_10_step_8.png", "scenario_10_step_9.png", "scenario_10_step_10.png", "scenario_10_step_11.png", "scenario_10_step_12.png", "scenario_10_step_13.png", "scenario_10_step_14.png", "scenario_10_step_15.png", "scenario_10_step_16.png", "scenario_10_step_17.png", "scenario_10_step_18.png", "scenario_10_step_19.png", "scenario_10_step_20.png" ], "num_steps": 21 }, { "scenario_id": 11, "descriptions": [ "The ego vehicle is moving at 7.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 48.2m in front and 9.2m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 20m.", "The ego vehicle is moving at 7.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 47.3m in front and 9.6m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 19m.", "The ego vehicle is moving at 7.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 46.6m in front and 9.5m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 18m.", "The ego vehicle is moving at 7.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 46.1m in front and 10.3m to the left and is moving at 0.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 18m.", "The ego vehicle is moving at 7.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 45.3m in front and 10.3m to the left and is moving at 0.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", "The ego vehicle is moving at 7.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 44.5m in front and 10.3m to the left and is moving at 0.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", "The ego vehicle is moving at 7.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 11.9m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", "The ego vehicle is moving at 7.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 12.6m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 15m.", "The ego vehicle is moving at 6.9 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 13.3m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 14m.", "The ego vehicle is moving at 6.7 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 14.0m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 14m.", "The ego vehicle is moving at 6.6 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 14.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 13m.", "The ego vehicle is moving at 6.4 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 15.3m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 12m.", "The ego vehicle is moving at 6.4 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 16.0m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 12m.", "The ego vehicle is moving at 6.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 16.6m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 11m.", "The ego vehicle is moving at 6.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 17.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 11m.", "The ego vehicle is moving at 6.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 10m.", "The ego vehicle is moving at 5.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 9m.", "The ego vehicle is moving at 5.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 10m.", "The ego vehicle is moving at 5.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 9m.", "The ego vehicle is moving at 5.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 9m.", "The ego vehicle is moving at 5.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 8m." ], "image_files": [ "scenario_11_step_0.png", "scenario_11_step_1.png", "scenario_11_step_2.png", "scenario_11_step_3.png", "scenario_11_step_4.png", "scenario_11_step_5.png", "scenario_11_step_6.png", "scenario_11_step_7.png", "scenario_11_step_8.png", "scenario_11_step_9.png", "scenario_11_step_10.png", "scenario_11_step_11.png", "scenario_11_step_12.png", "scenario_11_step_13.png", "scenario_11_step_14.png", "scenario_11_step_15.png", "scenario_11_step_16.png", "scenario_11_step_17.png", "scenario_11_step_18.png", "scenario_11_step_19.png", "scenario_11_step_20.png" ], "num_steps": 21 }, { "scenario_id": 12, "descriptions": [ "The ego vehicle is stationary.\nThe closest vehicle is 26.4m in front and 27.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThe closest vehicle is 26.4m in front and 27.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThe closest vehicle is 26.4m in front and 27.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThe closest vehicle is 26.4m in front and 27.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThe closest vehicle is 26.4m in front and 27.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThe closest vehicle is 0.0m in front and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThe closest vehicle is 0.0m in front and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThe closest vehicle is 0.0m in front and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_12_step_0.png", "scenario_12_step_1.png", "scenario_12_step_2.png", "scenario_12_step_3.png", "scenario_12_step_4.png", "scenario_12_step_5.png", "scenario_12_step_6.png", "scenario_12_step_7.png" ], "num_steps": 8 }, { "scenario_id": 13, "descriptions": [ "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 4.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.4 m/s.\nThe closest vehicle is 4.5m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.2 m/s.\nThe closest vehicle is 4.9m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.1 m/s.\nThe closest vehicle is 5.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_13_step_0.png", "scenario_13_step_1.png", "scenario_13_step_2.png", "scenario_13_step_3.png", "scenario_13_step_4.png", "scenario_13_step_5.png", "scenario_13_step_6.png", "scenario_13_step_7.png", "scenario_13_step_8.png", "scenario_13_step_9.png", "scenario_13_step_10.png", "scenario_13_step_11.png", "scenario_13_step_12.png", "scenario_13_step_13.png", "scenario_13_step_14.png", "scenario_13_step_15.png", "scenario_13_step_16.png", "scenario_13_step_17.png", "scenario_13_step_18.png" ], "num_steps": 19 }, { "scenario_id": 14, "descriptions": [ "The ego vehicle is moving at 4.4 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 1.5m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 20.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.3 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 1.9m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 19.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.4 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 2.3m behind and 2.4m to the left and is stationary.\nThere is a unknown traffic light 19.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.2 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 2.7m behind and 2.4m to the left and is stationary.\nThere is a unknown traffic light 19.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.2 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 3.1m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 18.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.2 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 3.5m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 18.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.1 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 4.0m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 17.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.1 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 4.3m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 17.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.1 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 4.7m behind and 2.5m to the left and is stationary.\nThere is a unknown traffic light 17.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.0 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 5.1m behind and 2.6m to the left and is stationary.\nThere is a unknown traffic light 16.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.9 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 5.5m behind and 2.7m to the left and is stationary.\nThere is a unknown traffic light 16.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.9 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 5.8m behind and 2.7m to the left and is stationary.\nThere is a unknown traffic light 15.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.8 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 6.2m behind and 2.7m to the left and is stationary.\nThere is a unknown traffic light 15.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.7 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 6.5m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 15.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.6 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 6.9m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 14.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.6 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 7.3m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 14.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.5 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 7.6m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 13.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.5 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 8.0m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 13.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.3 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 8.3m behind and 2.8m to the left and is stationary.\nThere is a unknown traffic light 13.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.3 m/s.\nThere are 1 cyclist(s) nearby.\nThe closest cyclist is 8.6m behind and 2.9m to the left and is stationary.\nThere is a unknown traffic light 12.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.2 m/s.\nThere are 2 pedestrian(s), 1 cyclist(s) nearby.\nThe closest cyclist is 8.9m behind and 2.9m to the left and is stationary.\nThere is a unknown traffic light 12.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_14_step_0.png", "scenario_14_step_1.png", "scenario_14_step_2.png", "scenario_14_step_3.png", "scenario_14_step_4.png", "scenario_14_step_5.png", "scenario_14_step_6.png", "scenario_14_step_7.png", "scenario_14_step_8.png", "scenario_14_step_9.png", "scenario_14_step_10.png", "scenario_14_step_11.png", "scenario_14_step_12.png", "scenario_14_step_13.png", "scenario_14_step_14.png", "scenario_14_step_15.png", "scenario_14_step_16.png", "scenario_14_step_17.png", "scenario_14_step_18.png", "scenario_14_step_19.png", "scenario_14_step_20.png" ], "num_steps": 21 }, { "scenario_id": 15, "descriptions": [ "The ego vehicle is moving at 7.2 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 5.0m behind and 3.1m to the left and is moving at 8.5 m/s.\nThere is a green traffic light 23.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.2 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.9m behind and 3.1m to the left and is moving at 8.4 m/s.\nThere is a green traffic light 22.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.8m behind and 3.1m to the left and is moving at 8.3 m/s.\nThere is a green traffic light 21.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.7m behind and 3.1m to the left and is moving at 8.3 m/s.\nThere is a green traffic light 21.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.6m behind and 3.1m to the left and is moving at 8.2 m/s.\nThere is a green traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.5m behind and 3.1m to the left and is moving at 8.2 m/s.\nThere is a green traffic light 19.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.4m behind and 3.1m to the left and is moving at 8.2 m/s.\nThere is a green traffic light 19.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.5 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.3m behind and 3.1m to the left and is moving at 8.1 m/s.\nThere is a green traffic light 18.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.4 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.2m behind and 3.1m to the left and is moving at 8.1 m/s.\nThere is a green traffic light 17.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.5 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.2m behind and 3.1m to the left and is moving at 8.1 m/s.\nThere is a green traffic light 16.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.1m to the left and is moving at 8.0 m/s.\nThere is a green traffic light 16.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.1m to the left and is moving at 8.0 m/s.\nThere is a green traffic light 15.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.7 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.1m to the left and is moving at 8.0 m/s.\nThere is a green traffic light 14.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.7 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.1m to the left and is moving at 7.9 m/s.\nThere is a green traffic light 13.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.8 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.0m behind and 3.1m to the left and is moving at 7.9 m/s.\nThere is a green traffic light 12.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.9 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.1m to the left and is moving at 7.9 m/s.\nThere is a green traffic light 12.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.0 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.0m behind and 3.1m to the left and is moving at 7.9 m/s.\nThere is a green traffic light 11.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.0 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.0m behind and 3.1m to the left and is moving at 7.8 m/s.\nThere is a green traffic light 10.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.2 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.0m to the left and is moving at 7.8 m/s.\nThere is a green traffic light 9.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.1 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.0m to the left and is moving at 7.8 m/s.\nThere is a green traffic light 8.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.3 m/s.\nThere are 5 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 4.1m behind and 3.0m to the left and is moving at 7.8 m/s.\nThere is a green traffic light 8.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_15_step_0.png", "scenario_15_step_1.png", "scenario_15_step_2.png", "scenario_15_step_3.png", "scenario_15_step_4.png", "scenario_15_step_5.png", "scenario_15_step_6.png", "scenario_15_step_7.png", "scenario_15_step_8.png", "scenario_15_step_9.png", "scenario_15_step_10.png", "scenario_15_step_11.png", "scenario_15_step_12.png", "scenario_15_step_13.png", "scenario_15_step_14.png", "scenario_15_step_15.png", "scenario_15_step_16.png", "scenario_15_step_17.png", "scenario_15_step_18.png", "scenario_15_step_19.png", "scenario_15_step_20.png" ], "num_steps": 21 }, { "scenario_id": 16, "descriptions": [ "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 46.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 45.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 45.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 45.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 44.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 44.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 44.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 43.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 43.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 43.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 42.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 42.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 42.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 41.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 41.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 40.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 40.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 39.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 39.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 38.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 38.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_16_step_0.png", "scenario_16_step_1.png", "scenario_16_step_2.png", "scenario_16_step_3.png", "scenario_16_step_4.png", "scenario_16_step_5.png", "scenario_16_step_6.png", "scenario_16_step_7.png", "scenario_16_step_8.png", "scenario_16_step_9.png", "scenario_16_step_10.png", "scenario_16_step_11.png", "scenario_16_step_12.png", "scenario_16_step_13.png", "scenario_16_step_14.png", "scenario_16_step_15.png", "scenario_16_step_16.png", "scenario_16_step_17.png", "scenario_16_step_18.png", "scenario_16_step_19.png", "scenario_16_step_20.png" ], "num_steps": 21 }, { "scenario_id": 17, "descriptions": [ "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_17_step_0.png", "scenario_17_step_1.png", "scenario_17_step_2.png", "scenario_17_step_3.png", "scenario_17_step_4.png", "scenario_17_step_5.png", "scenario_17_step_6.png", "scenario_17_step_7.png" ], "num_steps": 8 }, { "scenario_id": 18, "descriptions": [ "The ego vehicle is moving at 9.7 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 6.5m in front and 29.2m to the left and is stationary.\nThere is a unknown traffic light 28.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 5.6m in front and 29.2m to the left and is stationary.\nThere is a unknown traffic light 27.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 28.9m in front and 6.2m to the left and is moving at 12.8 m/s.\nThere is a unknown traffic light 26.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 26.6m in front and 6.2m to the left and is moving at 12.6 m/s.\nThere is a unknown traffic light 25.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 24.3m in front and 6.3m to the left and is moving at 12.5 m/s.\nThere is a red traffic light 24.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 14.7m behind and is stationary.\nThere is a red traffic light 23.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 15.6m behind and is stationary.\nThere is a red traffic light 23.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 16.6m behind and is stationary.\nThere is a red traffic light 22.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 15.5m in front and 6.3m to the left and is moving at 12.2 m/s.\nThere is a red traffic light 21.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 13.4m in front and 6.3m to the left and is moving at 12.1 m/s.\nThere is a red traffic light 20.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 11.2m in front and 6.2m to the left and is moving at 12.0 m/s.\nThere is a red traffic light 19.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.4 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 8.9m in front and 6.3m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 18.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 6.9m in front and 6.3m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 17.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.5 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 4.6m in front and 6.3m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 16.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.6m in front and 6.3m to the left and is moving at 11.5 m/s.\nThere is a red traffic light 15.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.4m in front and 6.3m to the left and is moving at 11.4 m/s.\nThere is a red traffic light 14.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.6m behind and 6.3m to the left and is moving at 11.2 m/s.\nThere is a red traffic light 13.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.7m behind and 6.4m to the left and is moving at 11.0 m/s.\nThere is a red traffic light 12.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 5.8m behind and 6.4m to the left and is moving at 10.8 m/s.\nThere is a red traffic light 11.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 7.9m behind and 6.4m to the left and is moving at 10.6 m/s.\nThere is a red traffic light 10.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 10.0m behind and 6.4m to the left and is moving at 10.4 m/s.\nThere is a red traffic light 10.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_18_step_0.png", "scenario_18_step_1.png", "scenario_18_step_2.png", "scenario_18_step_3.png", "scenario_18_step_4.png", "scenario_18_step_5.png", "scenario_18_step_6.png", "scenario_18_step_7.png", "scenario_18_step_8.png", "scenario_18_step_9.png", "scenario_18_step_10.png", "scenario_18_step_11.png", "scenario_18_step_12.png", "scenario_18_step_13.png", "scenario_18_step_14.png", "scenario_18_step_15.png", "scenario_18_step_16.png", "scenario_18_step_17.png", "scenario_18_step_18.png", "scenario_18_step_19.png", "scenario_18_step_20.png" ], "num_steps": 21 }, { "scenario_id": 19, "descriptions": [ "The ego vehicle is stationary.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 0.0m in front and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", "The ego vehicle is stationary.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 0.0m in front and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", "The ego vehicle is stationary.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 0.0m in front and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", "The ego vehicle is stationary.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 0.0m in front and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", "The ego vehicle is stationary.\nThere are 2 pedestrian(s) nearby.\nThe closest pedestrian is 0.0m in front and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", "The ego vehicle is stationary.\nThere are 2 pedestrian(s) nearby.\nThe closest pedestrian is 0.0m behind and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", "The ego vehicle is stationary.\nThere are 2 pedestrian(s) nearby.\nThe closest pedestrian is 0.0m behind and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m.", "The ego vehicle is stationary.\nThere are 2 pedestrian(s) nearby.\nThe closest pedestrian is 0.0m behind and is stationary.\nThere is a red traffic light 14.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 27m." ], "image_files": [ "scenario_19_step_0.png", "scenario_19_step_1.png", "scenario_19_step_2.png", "scenario_19_step_3.png", "scenario_19_step_4.png", "scenario_19_step_5.png", "scenario_19_step_6.png", "scenario_19_step_7.png" ], "num_steps": 8 }, { "scenario_id": 20, "descriptions": [ "The ego vehicle is moving at 5.0 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest pedestrian is 5.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.9 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest pedestrian is 5.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.9 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest pedestrian is 6.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.8 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest pedestrian is 6.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.7 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest pedestrian is 7.1m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.1m in front and 6.9m to the right and is moving at 0.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.7m in front and 6.9m to the right and is moving at 0.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.3m in front and 6.9m to the right and is moving at 0.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.9m in front and 6.9m to the right and is moving at 0.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.5m in front and 6.9m to the right and is moving at 0.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.1m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.8m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.4m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.0m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.6m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.3m in front and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.1m behind and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.5m behind and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.0m behind and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m behind and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.7m behind and 6.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_20_step_0.png", "scenario_20_step_1.png", "scenario_20_step_2.png", "scenario_20_step_3.png", "scenario_20_step_4.png", "scenario_20_step_5.png", "scenario_20_step_6.png", "scenario_20_step_7.png", "scenario_20_step_8.png", "scenario_20_step_9.png", "scenario_20_step_10.png", "scenario_20_step_11.png", "scenario_20_step_12.png", "scenario_20_step_13.png", "scenario_20_step_14.png", "scenario_20_step_15.png", "scenario_20_step_16.png", "scenario_20_step_17.png", "scenario_20_step_18.png", "scenario_20_step_19.png", "scenario_20_step_20.png" ], "num_steps": 21 }, { "scenario_id": 21, "descriptions": [ "The ego vehicle is moving at 11.0 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 3.5m behind and 6.8m to the left and is moving at 13.2 m/s.\nThere is a green traffic light 28.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 3.2m behind and 6.8m to the left and is moving at 13.1 m/s.\nThere is a green traffic light 27.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 3.1m behind and 6.8m to the left and is moving at 13.0 m/s.\nThere is a green traffic light 26.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 2.7m behind and 6.8m to the left and is moving at 13.0 m/s.\nThere is a green traffic light 25.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 2.6m behind and 6.8m to the left and is moving at 13.0 m/s.\nThere is a green traffic light 24.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.8 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 2.5m behind and 6.7m to the left and is moving at 13.0 m/s.\nThere is a green traffic light 23.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 2.3m behind and 6.7m to the left and is moving at 12.9 m/s.\nThere is a green traffic light 22.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 2.0m behind and 6.7m to the left and is moving at 12.9 m/s.\nThere is a green traffic light 21.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.8m behind and 6.7m to the left and is moving at 12.8 m/s.\nThere is a green traffic light 20.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.5m behind and 6.7m to the left and is moving at 12.7 m/s.\nThere is a green traffic light 19.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.4m behind and 6.7m to the left and is moving at 12.6 m/s.\nThere is a green traffic light 18.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.2m behind and 6.7m to the left and is moving at 12.5 m/s.\nThere is a green traffic light 17.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.2m behind and 6.7m to the left and is moving at 12.5 m/s.\nThere is a green traffic light 16.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.5 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 1.0m behind and 6.6m to the left and is moving at 12.4 m/s.\nThere is a green traffic light 15.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.8m behind and 6.6m to the left and is moving at 12.4 m/s.\nThere is a green traffic light 13.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.7m behind and 6.6m to the left and is moving at 12.4 m/s.\nThere is a green traffic light 12.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.5 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.5m behind and 6.6m to the left and is moving at 12.3 m/s.\nThere is a green traffic light 11.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.5 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.4m behind and 6.6m to the left and is moving at 12.3 m/s.\nThere is a green traffic light 10.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.2m behind and 6.6m to the left and is moving at 12.3 m/s.\nThere is a green traffic light 9.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.1m behind and 6.6m to the left and is moving at 12.2 m/s.\nThere is a green traffic light 8.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 5 pedestrian(s) nearby.\nThe closest vehicle is 0.3m in front and 6.6m to the left and is moving at 12.2 m/s.\nThere is a green traffic light 7.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_21_step_0.png", "scenario_21_step_1.png", "scenario_21_step_2.png", "scenario_21_step_3.png", "scenario_21_step_4.png", "scenario_21_step_5.png", "scenario_21_step_6.png", "scenario_21_step_7.png", "scenario_21_step_8.png", "scenario_21_step_9.png", "scenario_21_step_10.png", "scenario_21_step_11.png", "scenario_21_step_12.png", "scenario_21_step_13.png", "scenario_21_step_14.png", "scenario_21_step_15.png", "scenario_21_step_16.png", "scenario_21_step_17.png", "scenario_21_step_18.png", "scenario_21_step_19.png", "scenario_21_step_20.png" ], "num_steps": 21 }, { "scenario_id": 22, "descriptions": [ "The ego vehicle is moving at 0.9 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.3m behind and is stationary.\nThere is a red traffic light 29.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.8 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.4m behind and is stationary.\nThere is a red traffic light 29.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.8 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.4m behind and is stationary.\nThere is a red traffic light 29.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.7 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.5m behind and is stationary.\nThere is a red traffic light 29.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.7 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.6m behind and is stationary.\nThere is a red traffic light 29.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.6 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.7m behind and is stationary.\nThere is a red traffic light 29.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_22_step_0.png", "scenario_22_step_1.png", "scenario_22_step_2.png", "scenario_22_step_3.png", "scenario_22_step_4.png", "scenario_22_step_5.png", "scenario_22_step_6.png", "scenario_22_step_7.png", "scenario_22_step_8.png" ], "num_steps": 9 }, { "scenario_id": 23, "descriptions": [ "The ego vehicle is moving at 8.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 47.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 46.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 45.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 44.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 43.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 43.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 42.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 41.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 40.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 39.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 38.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 37.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 37.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 36.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 35.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 34.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 33.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 32.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 31.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 30.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a green traffic light 30.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_23_step_0.png", "scenario_23_step_1.png", "scenario_23_step_2.png", "scenario_23_step_3.png", "scenario_23_step_4.png", "scenario_23_step_5.png", "scenario_23_step_6.png", "scenario_23_step_7.png", "scenario_23_step_8.png", "scenario_23_step_9.png", "scenario_23_step_10.png", "scenario_23_step_11.png", "scenario_23_step_12.png", "scenario_23_step_13.png", "scenario_23_step_14.png", "scenario_23_step_15.png", "scenario_23_step_16.png", "scenario_23_step_17.png", "scenario_23_step_18.png", "scenario_23_step_19.png", "scenario_23_step_20.png" ], "num_steps": 21 }, { "scenario_id": 24, "descriptions": [ "The ego vehicle is moving at 12.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 39.4m behind and 2.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 13.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 40.7m behind and 2.8m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 13.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 42.0m behind and 2.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 43.3m behind and 2.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 44.6m behind and 2.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 45.8m behind and 2.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 47.1m behind and 2.6m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 48.4m behind and 2.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 49.7m behind and 2.8m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_24_step_0.png", "scenario_24_step_1.png", "scenario_24_step_2.png", "scenario_24_step_3.png", "scenario_24_step_4.png", "scenario_24_step_5.png", "scenario_24_step_6.png", "scenario_24_step_7.png", "scenario_24_step_8.png", "scenario_24_step_9.png", "scenario_24_step_10.png", "scenario_24_step_11.png", "scenario_24_step_12.png", "scenario_24_step_13.png", "scenario_24_step_14.png", "scenario_24_step_15.png", "scenario_24_step_16.png", "scenario_24_step_17.png", "scenario_24_step_18.png", "scenario_24_step_19.png", "scenario_24_step_20.png" ], "num_steps": 21 }, { "scenario_id": 25, "descriptions": [ "The ego vehicle is moving at 3.6 m/s.\nThe closest vehicle is 8.7m in front and 2.8m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 6m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 8.0m in front and 3.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 3.4 m/s.\nThe closest vehicle is 7.5m in front and 4.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 3.4 m/s.\nThe closest vehicle is 6.9m in front and 4.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 6m.", "The ego vehicle is moving at 3.4 m/s.\nThe closest vehicle is 6.5m in front and 4.6m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 3.4 m/s.\nThe closest vehicle is 6.2m in front and 4.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 5.8m in front and 4.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 5.2m in front and 4.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 4.9m in front and 4.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 4.5m in front and 4.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 3.6 m/s.\nThe closest vehicle is 4.1m in front and 4.9m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 3m.", "The ego vehicle is moving at 3.6 m/s.\nThe closest vehicle is 3.6m in front and 5.0m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 3.6 m/s.\nThe closest vehicle is 3.1m in front and 5.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 3m.", "The ego vehicle is moving at 3.6 m/s.\nThe closest vehicle is 2.7m in front and 5.1m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 3m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 2.1m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 3m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 1.7m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 1.3m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 0.9m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 0.5m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 0.0m in front and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 3.5 m/s.\nThe closest vehicle is 0.4m behind and 5.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 4m." ], "image_files": [ "scenario_25_step_0.png", "scenario_25_step_1.png", "scenario_25_step_2.png", "scenario_25_step_3.png", "scenario_25_step_4.png", "scenario_25_step_5.png", "scenario_25_step_6.png", "scenario_25_step_7.png", "scenario_25_step_8.png", "scenario_25_step_9.png", "scenario_25_step_10.png", "scenario_25_step_11.png", "scenario_25_step_12.png", "scenario_25_step_13.png", "scenario_25_step_14.png", "scenario_25_step_15.png", "scenario_25_step_16.png", "scenario_25_step_17.png", "scenario_25_step_18.png", "scenario_25_step_19.png", "scenario_25_step_20.png" ], "num_steps": 21 }, { "scenario_id": 26, "descriptions": [ "The ego vehicle is moving at 1.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.2m behind and is stationary.\nThere is a unknown traffic light 6.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 6.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 1.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 5m.", "The ego vehicle is moving at 1.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 5m.", "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 5.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 4.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 4.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 4.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 4.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m." ], "image_files": [ "scenario_26_step_0.png", "scenario_26_step_1.png", "scenario_26_step_2.png", "scenario_26_step_3.png", "scenario_26_step_4.png", "scenario_26_step_5.png", "scenario_26_step_6.png", "scenario_26_step_7.png", "scenario_26_step_8.png", "scenario_26_step_9.png", "scenario_26_step_10.png", "scenario_26_step_11.png", "scenario_26_step_12.png", "scenario_26_step_13.png", "scenario_26_step_14.png", "scenario_26_step_15.png", "scenario_26_step_16.png" ], "num_steps": 17 }, { "scenario_id": 27, "descriptions": [ "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 20.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 26m." ], "image_files": [ "scenario_27_step_0.png", "scenario_27_step_1.png", "scenario_27_step_2.png", "scenario_27_step_3.png", "scenario_27_step_4.png", "scenario_27_step_5.png", "scenario_27_step_6.png", "scenario_27_step_7.png" ], "num_steps": 8 }, { "scenario_id": 28, "descriptions": [ "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a unknown traffic light 34.9m ahead.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 34.9m ahead." ], "image_files": [ "scenario_28_step_0.png", "scenario_28_step_1.png", "scenario_28_step_2.png", "scenario_28_step_3.png", "scenario_28_step_4.png", "scenario_28_step_5.png", "scenario_28_step_6.png", "scenario_28_step_7.png" ], "num_steps": 8 }, { "scenario_id": 29, "descriptions": [ "The ego vehicle is moving at 12.5 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.4m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 29.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.5 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.5m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 30.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.4 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.6m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 31.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.3 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.6m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 32.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.5 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.7m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 33.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.3 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.7m behind and 7.1m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 34.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.4 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.8m behind and 7.1m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 35.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.5 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 8.9m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 36.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.3 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 9.0m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 37.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.2 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 9.0m behind and 7.2m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 38.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.3 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 9.1m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 39.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.3 m/s.\nThere are 2 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 9.1m behind and 7.1m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 41.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.3 m/s.\nThere are 2 vehicle(s), 3 pedestrian(s) nearby.\nThe closest vehicle is 9.2m behind and 7.1m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 42.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.2 m/s.\nThere are 2 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 9.2m behind and 7.1m to the left and is moving at 11.8 m/s.\nThere is a red traffic light 43.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.1 m/s.\nThere are 2 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 9.3m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 44.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.1 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.3m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 45.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.2 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.3m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 46.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.1 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.3m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 47.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.0 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.4m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 48.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.0 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.4m behind and 7.2m to the left and is moving at 11.7 m/s.\nThere is a red traffic light 49.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.0 m/s.\nThere are 2 vehicle(s), 6 pedestrian(s) nearby.\nThe closest vehicle is 9.4m behind and 7.2m to the left and is moving at 11.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_29_step_0.png", "scenario_29_step_1.png", "scenario_29_step_2.png", "scenario_29_step_3.png", "scenario_29_step_4.png", "scenario_29_step_5.png", "scenario_29_step_6.png", "scenario_29_step_7.png", "scenario_29_step_8.png", "scenario_29_step_9.png", "scenario_29_step_10.png", "scenario_29_step_11.png", "scenario_29_step_12.png", "scenario_29_step_13.png", "scenario_29_step_14.png", "scenario_29_step_15.png", "scenario_29_step_16.png", "scenario_29_step_17.png", "scenario_29_step_18.png", "scenario_29_step_19.png", "scenario_29_step_20.png" ], "num_steps": 21 }, { "scenario_id": 30, "descriptions": [ "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_30_step_0.png", "scenario_30_step_1.png", "scenario_30_step_2.png", "scenario_30_step_3.png", "scenario_30_step_4.png", "scenario_30_step_5.png", "scenario_30_step_6.png", "scenario_30_step_7.png", "scenario_30_step_8.png", "scenario_30_step_9.png", "scenario_30_step_10.png", "scenario_30_step_11.png", "scenario_30_step_12.png", "scenario_30_step_13.png", "scenario_30_step_14.png", "scenario_30_step_15.png", "scenario_30_step_16.png", "scenario_30_step_17.png", "scenario_30_step_18.png", "scenario_30_step_19.png", "scenario_30_step_20.png" ], "num_steps": 21 }, { "scenario_id": 31, "descriptions": [ "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.9m behind and 3.6m to the right and is moving at 7.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 5.3m behind and 3.6m to the right and is moving at 7.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 5.9m behind and 3.6m to the right and is moving at 7.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 6.4m behind and 3.6m to the right and is moving at 7.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 6.9m behind and 3.6m to the right and is moving at 7.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 7.4m behind and 3.6m to the right and is moving at 7.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 8.0m behind and 3.6m to the right and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 8.5m behind and 3.6m to the right and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.0m behind and 3.6m to the right and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.5m behind and 3.5m to the right and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.0m behind and 3.6m to the right and is moving at 7.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.4 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.5m behind and 3.6m to the right and is moving at 7.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.5m behind and 10.6m to the left and is moving at 12.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.7 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.4m behind and 10.6m to the left and is moving at 12.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.5m behind and 10.6m to the left and is moving at 12.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.7 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.6m behind and 10.6m to the left and is moving at 11.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.7m behind and 10.6m to the left and is moving at 11.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.8m behind and 10.6m to the left and is moving at 11.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 12.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.9m behind and 10.7m to the left and is moving at 11.4 m/s.\nThere is a red traffic light 49.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 13.0 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 5.1m behind and 10.7m to the left and is moving at 11.2 m/s.\nThere is a red traffic light 47.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 13.0 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 5.2m behind and 10.7m to the left and is moving at 11.1 m/s.\nThere is a red traffic light 46.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_31_step_0.png", "scenario_31_step_1.png", "scenario_31_step_2.png", "scenario_31_step_3.png", "scenario_31_step_4.png", "scenario_31_step_5.png", "scenario_31_step_6.png", "scenario_31_step_7.png", "scenario_31_step_8.png", "scenario_31_step_9.png", "scenario_31_step_10.png", "scenario_31_step_11.png", "scenario_31_step_12.png", "scenario_31_step_13.png", "scenario_31_step_14.png", "scenario_31_step_15.png", "scenario_31_step_16.png", "scenario_31_step_17.png", "scenario_31_step_18.png", "scenario_31_step_19.png", "scenario_31_step_20.png" ], "num_steps": 21 }, { "scenario_id": 32, "descriptions": [ "The ego vehicle is moving at 7.1 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 6.5m behind and is stationary.\nThere is a green traffic light 26.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.3 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.7m in front and 3.2m to the right and is moving at 7.0 m/s.\nThere is a green traffic light 26.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.4 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.7m in front and 3.1m to the right and is moving at 7.1 m/s.\nThere is a green traffic light 25.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.5 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.8m in front and 3.1m to the right and is moving at 7.1 m/s.\nThere is a green traffic light 24.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.7m in front and 3.1m to the right and is moving at 7.2 m/s.\nThere is a green traffic light 23.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.6m in front and 3.1m to the right and is moving at 7.3 m/s.\nThere is a green traffic light 23.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.8 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.6m in front and 3.1m to the right and is moving at 7.4 m/s.\nThere is a green traffic light 22.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.0 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.5m in front and 3.2m to the right and is moving at 7.5 m/s.\nThere is a green traffic light 21.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.0 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.5m in front and 3.2m to the right and is moving at 7.5 m/s.\nThere is a green traffic light 20.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.2 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.4m in front and 3.2m to the right and is moving at 7.6 m/s.\nThere is a green traffic light 19.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.2 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.3m in front and 3.2m to the right and is moving at 7.7 m/s.\nThere is a green traffic light 19.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.3 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.3m in front and 3.2m to the right and is moving at 7.8 m/s.\nThere is a green traffic light 18.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.4 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.2m in front and 3.2m to the right and is moving at 7.9 m/s.\nThere is a green traffic light 17.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.3 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.2m in front and 3.2m to the right and is moving at 8.0 m/s.\nThere is a green traffic light 16.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the right and is moving at 8.0 m/s.\nThere is a green traffic light 15.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.5 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the right and is moving at 8.2 m/s.\nThere is a green traffic light 15.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.5 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the right and is moving at 8.3 m/s.\nThere is a green traffic light 14.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.0m in front and 3.3m to the right and is moving at 8.3 m/s.\nThere is a green traffic light 13.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.0m in front and 3.2m to the right and is moving at 8.5 m/s.\nThere is a green traffic light 12.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the right and is moving at 8.6 m/s.\nThere is a green traffic light 11.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 8.8 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 5.1m in front and 3.2m to the right and is moving at 8.6 m/s.\nThere is a green traffic light 10.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_32_step_0.png", "scenario_32_step_1.png", "scenario_32_step_2.png", "scenario_32_step_3.png", "scenario_32_step_4.png", "scenario_32_step_5.png", "scenario_32_step_6.png", "scenario_32_step_7.png", "scenario_32_step_8.png", "scenario_32_step_9.png", "scenario_32_step_10.png", "scenario_32_step_11.png", "scenario_32_step_12.png", "scenario_32_step_13.png", "scenario_32_step_14.png", "scenario_32_step_15.png", "scenario_32_step_16.png", "scenario_32_step_17.png", "scenario_32_step_18.png", "scenario_32_step_19.png", "scenario_32_step_20.png" ], "num_steps": 21 }, { "scenario_id": 33, "descriptions": [ "The ego vehicle is moving at 1.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", "The ego vehicle is moving at 1.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", "The ego vehicle is moving at 1.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", "The ego vehicle is moving at 1.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 18m.", "The ego vehicle is moving at 1.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", "The ego vehicle is moving at 1.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", "The ego vehicle is moving at 1.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", "The ego vehicle is moving at 1.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", "The ego vehicle is moving at 2.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", "The ego vehicle is moving at 2.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 17m.", "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", "The ego vehicle is moving at 2.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 16m.", "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 14m.", "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 15m.", "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 15m.", "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 13m.", "The ego vehicle is moving at 3.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 14m.", "The ego vehicle is moving at 3.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp left turn in approximately 14m." ], "image_files": [ "scenario_33_step_0.png", "scenario_33_step_1.png", "scenario_33_step_2.png", "scenario_33_step_3.png", "scenario_33_step_4.png", "scenario_33_step_5.png", "scenario_33_step_6.png", "scenario_33_step_7.png", "scenario_33_step_8.png", "scenario_33_step_9.png", "scenario_33_step_10.png", "scenario_33_step_11.png", "scenario_33_step_12.png", "scenario_33_step_13.png", "scenario_33_step_14.png", "scenario_33_step_15.png", "scenario_33_step_16.png", "scenario_33_step_17.png", "scenario_33_step_18.png", "scenario_33_step_19.png", "scenario_33_step_20.png" ], "num_steps": 21 }, { "scenario_id": 34, "descriptions": [ "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 29.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_34_step_0.png", "scenario_34_step_1.png", "scenario_34_step_2.png", "scenario_34_step_3.png", "scenario_34_step_4.png", "scenario_34_step_5.png", "scenario_34_step_6.png", "scenario_34_step_7.png" ], "num_steps": 8 }, { "scenario_id": 35, "descriptions": [ "The ego vehicle is moving at 7.3 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 5.6m in front and 3.8m to the right and is moving at 10.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.5 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 5.8m in front and 3.8m to the right and is moving at 9.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.5 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 6.0m in front and 3.8m to the right and is moving at 9.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 6.3m in front and 3.8m to the right and is moving at 9.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 6.5m in front and 3.7m to the right and is moving at 9.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 6.8m in front and 3.7m to the right and is moving at 9.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 7.0m in front and 3.7m to the right and is moving at 9.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 7.2m in front and 3.7m to the right and is moving at 9.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s), 2 pedestrian(s) nearby.\nThe closest vehicle is 7.4m in front and 3.6m to the right and is moving at 9.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 7.6m in front and 3.6m to the right and is moving at 9.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 7.8m in front and 3.5m to the right and is moving at 9.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 8.0m in front and 3.5m to the right and is moving at 9.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.7 m/s.\nThere are 1 vehicle(s), 1 pedestrian(s) nearby.\nThe closest vehicle is 8.2m in front and 3.5m to the right and is moving at 9.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.3m in front and 3.4m to the right and is moving at 9.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.4m in front and 3.4m to the right and is moving at 9.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.7m in front and 3.3m to the right and is moving at 9.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.8m in front and 3.2m to the right and is moving at 8.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 8.9m in front and 3.2m to the right and is moving at 8.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 9.0m in front and 3.1m to the right and is moving at 8.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 9.1m in front and 3.0m to the right and is moving at 8.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 9.2m in front and 2.9m to the right and is moving at 8.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_35_step_0.png", "scenario_35_step_1.png", "scenario_35_step_2.png", "scenario_35_step_3.png", "scenario_35_step_4.png", "scenario_35_step_5.png", "scenario_35_step_6.png", "scenario_35_step_7.png", "scenario_35_step_8.png", "scenario_35_step_9.png", "scenario_35_step_10.png", "scenario_35_step_11.png", "scenario_35_step_12.png", "scenario_35_step_13.png", "scenario_35_step_14.png", "scenario_35_step_15.png", "scenario_35_step_16.png", "scenario_35_step_17.png", "scenario_35_step_18.png", "scenario_35_step_19.png", "scenario_35_step_20.png" ], "num_steps": 21 }, { "scenario_id": 36, "descriptions": [ "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.4m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 2m.", "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.9m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.1m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.3m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", "The ego vehicle is moving at 2.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.5m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 2.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 4m.", "The ego vehicle is moving at 2.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.9m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 3m.", "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 4m.", "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 4m.", "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 4m.", "The ego vehicle is moving at 2.9 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 4.7m behind and 2.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 4m.", "The ego vehicle is moving at 2.9 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 4.9m behind and 2.4m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 4m.", "The ego vehicle is moving at 3.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 5.1m behind and 2.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_36_step_0.png", "scenario_36_step_1.png", "scenario_36_step_2.png", "scenario_36_step_3.png", "scenario_36_step_4.png", "scenario_36_step_5.png", "scenario_36_step_6.png", "scenario_36_step_7.png", "scenario_36_step_8.png", "scenario_36_step_9.png", "scenario_36_step_10.png", "scenario_36_step_11.png", "scenario_36_step_12.png", "scenario_36_step_13.png", "scenario_36_step_14.png", "scenario_36_step_15.png", "scenario_36_step_16.png", "scenario_36_step_17.png", "scenario_36_step_18.png", "scenario_36_step_19.png", "scenario_36_step_20.png" ], "num_steps": 21 }, { "scenario_id": 37, "descriptions": [ "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThere is a red traffic light 23.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_37_step_0.png", "scenario_37_step_1.png", "scenario_37_step_2.png", "scenario_37_step_3.png", "scenario_37_step_4.png", "scenario_37_step_5.png", "scenario_37_step_6.png", "scenario_37_step_7.png", "scenario_37_step_8.png" ], "num_steps": 9 }, { "scenario_id": 38, "descriptions": [ "The ego vehicle is moving at 6.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 8.1m in front and 2.2m to the right and is stationary.\nThere is a green traffic light 23.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 7.5m in front and 2.2m to the right and is stationary.\nThere is a green traffic light 23.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 6.9m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 22.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 6.2m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 21.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 5.6m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 21.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.7 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.9m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 20.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.7 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 4.3m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 19.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 3.6m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 19.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 2.9m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 18.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 2.3m in front and 2.1m to the right and is stationary.\nThere is a green traffic light 17.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 1.6m in front and 2.0m to the right and is stationary.\nThere is a green traffic light 17.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 0.9m in front and 2.0m to the right and is stationary.\nThere is a green traffic light 16.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 0.2m in front and 2.0m to the right and is stationary.\nThere is a green traffic light 15.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 0.5m behind and 2.0m to the right and is stationary.\nThere is a green traffic light 15.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 1.2m behind and 2.0m to the right and is stationary.\nThere is a green traffic light 14.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.4 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 1.9m behind and 2.1m to the right and is stationary.\nThere is a green traffic light 13.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 2.6m behind and 2.1m to the right and is stationary.\nThere is a green traffic light 12.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.5 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 0.7m in front and 3.8m to the right and is stationary.\nThere is a green traffic light 12.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.6 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 3.2m in front and is stationary.\nThere is a green traffic light 11.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.7 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 2.4m in front and is stationary.\nThere is a green traffic light 10.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 1.6m in front and is stationary.\nThere is a green traffic light 9.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_38_step_0.png", "scenario_38_step_1.png", "scenario_38_step_2.png", "scenario_38_step_3.png", "scenario_38_step_4.png", "scenario_38_step_5.png", "scenario_38_step_6.png", "scenario_38_step_7.png", "scenario_38_step_8.png", "scenario_38_step_9.png", "scenario_38_step_10.png", "scenario_38_step_11.png", "scenario_38_step_12.png", "scenario_38_step_13.png", "scenario_38_step_14.png", "scenario_38_step_15.png", "scenario_38_step_16.png", "scenario_38_step_17.png", "scenario_38_step_18.png", "scenario_38_step_19.png", "scenario_38_step_20.png" ], "num_steps": 21 }, { "scenario_id": 39, "descriptions": [ "The ego vehicle is moving at 0.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is approaching a sharp left turn in approximately 6m.", "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 1.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 1.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 1.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 1.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 1.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 1.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 2.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 2.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 2.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 2.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 2.5 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 5m.", "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.7m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m.", "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is slightly off its planned route (1.8m).\nThe ego vehicle is approaching a sharp left turn in approximately 4m." ], "image_files": [ "scenario_39_step_0.png", "scenario_39_step_1.png", "scenario_39_step_2.png", "scenario_39_step_3.png", "scenario_39_step_4.png", "scenario_39_step_5.png", "scenario_39_step_6.png", "scenario_39_step_7.png", "scenario_39_step_8.png", "scenario_39_step_9.png", "scenario_39_step_10.png", "scenario_39_step_11.png", "scenario_39_step_12.png", "scenario_39_step_13.png", "scenario_39_step_14.png", "scenario_39_step_15.png", "scenario_39_step_16.png", "scenario_39_step_17.png", "scenario_39_step_18.png", "scenario_39_step_19.png", "scenario_39_step_20.png" ], "num_steps": 21 }, { "scenario_id": 40, "descriptions": [ "The ego vehicle is moving at 10.5 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 18.6m in front and 5.9m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.3 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 11.5m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.4 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 12.6m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 13.6m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 14.6m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 13.5m in front and 5.9m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 12.5m in front and 5.8m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 11.5m in front and 5.7m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.6m in front and 5.7m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.6m in front and 5.6m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.2 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 8.6m in front and 5.5m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 7.6m in front and 5.5m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 6.7m in front and 5.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 5.7m in front and 5.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.0 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 4.7m in front and 5.4m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 3.8m in front and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.0 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 2.8m in front and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 1.8m in front and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.0 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 0.8m in front and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.0 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 0.1m behind and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.9 m/s.\nThere are 2 vehicle(s) nearby.\nThe closest vehicle is 1.1m behind and 5.3m to the left and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_40_step_0.png", "scenario_40_step_1.png", "scenario_40_step_2.png", "scenario_40_step_3.png", "scenario_40_step_4.png", "scenario_40_step_5.png", "scenario_40_step_6.png", "scenario_40_step_7.png", "scenario_40_step_8.png", "scenario_40_step_9.png", "scenario_40_step_10.png", "scenario_40_step_11.png", "scenario_40_step_12.png", "scenario_40_step_13.png", "scenario_40_step_14.png", "scenario_40_step_15.png", "scenario_40_step_16.png", "scenario_40_step_17.png", "scenario_40_step_18.png", "scenario_40_step_19.png", "scenario_40_step_20.png" ], "num_steps": 21 }, { "scenario_id": 41, "descriptions": [ "The ego vehicle is moving at 3.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.7m in front and 6.2m to the right and is moving at 4.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.8m in front and 6.2m to the right and is moving at 4.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.8m in front and 6.2m to the right and is moving at 3.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 0.9m in front and 6.2m to the right and is moving at 3.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.1m in front and 6.2m to the right and is moving at 3.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.1m in front and 6.2m to the right and is moving at 3.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.2m in front and 6.2m to the right and is moving at 3.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 3.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.4m in front and 6.2m to the right and is moving at 2.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 2.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 2.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 2.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 2.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.7 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.3m in front and 6.2m to the right and is moving at 2.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.4m in front and 6.2m to the right and is moving at 2.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.5m in front and 6.2m to the right and is moving at 1.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.4 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.5m in front and 6.2m to the right and is moving at 1.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.6m in front and 6.2m to the right and is moving at 1.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.1 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.8m in front and 6.1m to the right and is moving at 1.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.0 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.8m in front and 6.1m to the right and is moving at 1.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.9 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.8m in front and 6.1m to the right and is moving at 1.2 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_41_step_0.png", "scenario_41_step_1.png", "scenario_41_step_2.png", "scenario_41_step_3.png", "scenario_41_step_4.png", "scenario_41_step_5.png", "scenario_41_step_6.png", "scenario_41_step_7.png", "scenario_41_step_8.png", "scenario_41_step_9.png", "scenario_41_step_10.png", "scenario_41_step_11.png", "scenario_41_step_12.png", "scenario_41_step_13.png", "scenario_41_step_14.png", "scenario_41_step_15.png", "scenario_41_step_16.png", "scenario_41_step_17.png", "scenario_41_step_18.png", "scenario_41_step_19.png", "scenario_41_step_20.png" ], "num_steps": 21 }, { "scenario_id": 42, "descriptions": [ "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.2m in front and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 0.7m in front and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 0.2m in front and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 0.3m behind and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 0.8m behind and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.3m behind and 8.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 1.9m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 2.4m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 2.9m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 3.4m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 3.9m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 4.3m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 4.9m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 5.5m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 6.0m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 6.5m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 7.0m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 7.5m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.4 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 8.1m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 8.6m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 9.1m behind and 8.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_42_step_0.png", "scenario_42_step_1.png", "scenario_42_step_2.png", "scenario_42_step_3.png", "scenario_42_step_4.png", "scenario_42_step_5.png", "scenario_42_step_6.png", "scenario_42_step_7.png", "scenario_42_step_8.png", "scenario_42_step_9.png", "scenario_42_step_10.png", "scenario_42_step_11.png", "scenario_42_step_12.png", "scenario_42_step_13.png", "scenario_42_step_14.png", "scenario_42_step_15.png", "scenario_42_step_16.png", "scenario_42_step_17.png", "scenario_42_step_18.png", "scenario_42_step_19.png", "scenario_42_step_20.png" ], "num_steps": 21 }, { "scenario_id": 43, "descriptions": [ "The ego vehicle is moving at 10.9 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 11.3m behind and is stationary.\nThere is a red traffic light 40.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.8 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 12.4m behind and is stationary.\nThere is a red traffic light 40.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 8.9m behind and 9.7m to the left and is moving at 10.2 m/s.\nThere is a red traffic light 41.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 8.9m behind and 9.7m to the left and is moving at 10.2 m/s.\nThere is a red traffic light 42.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.5 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 9.0m behind and 9.8m to the left and is moving at 10.2 m/s.\nThere is a red traffic light 43.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.5 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 9.0m behind and 9.7m to the left and is moving at 10.2 m/s.\nThere is a red traffic light 44.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.3 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 9.1m behind and 9.7m to the left and is moving at 10.1 m/s.\nThere is a red traffic light 45.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.3 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.1m behind and 9.7m to the left and is moving at 10.1 m/s.\nThere is a red traffic light 45.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.3 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 9.1m behind and 9.8m to the left and is moving at 10.1 m/s.\nThere is a red traffic light 46.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.2 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 9.1m behind and 9.8m to the left and is moving at 10.1 m/s.\nThere is a red traffic light 47.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 11.4m in front and 6.5m to the left and is moving at 7.0 m/s.\nThere is a red traffic light 48.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 11.2m in front and 6.5m to the left and is moving at 6.9 m/s.\nThere is a red traffic light 49.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.2 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.8m in front and 6.5m to the left and is moving at 6.9 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.5m in front and 6.5m to the left and is moving at 6.8 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.0 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 10.2m in front and 6.5m to the left and is moving at 6.7 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.9m in front and 6.5m to the left and is moving at 6.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.9 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.5m in front and 6.5m to the left and is moving at 6.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 9.2m in front and 6.5m to the left and is moving at 6.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.8 m/s.\nThere are 4 vehicle(s) nearby.\nThe closest vehicle is 8.9m in front and 6.5m to the left and is moving at 6.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 8.5m in front and 6.6m to the left and is moving at 6.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.6 m/s.\nThere are 3 vehicle(s) nearby.\nThe closest vehicle is 8.1m in front and 6.6m to the left and is moving at 6.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_43_step_0.png", "scenario_43_step_1.png", "scenario_43_step_2.png", "scenario_43_step_3.png", "scenario_43_step_4.png", "scenario_43_step_5.png", "scenario_43_step_6.png", "scenario_43_step_7.png", "scenario_43_step_8.png", "scenario_43_step_9.png", "scenario_43_step_10.png", "scenario_43_step_11.png", "scenario_43_step_12.png", "scenario_43_step_13.png", "scenario_43_step_14.png", "scenario_43_step_15.png", "scenario_43_step_16.png", "scenario_43_step_17.png", "scenario_43_step_18.png", "scenario_43_step_19.png", "scenario_43_step_20.png" ], "num_steps": 21 }, { "scenario_id": 44, "descriptions": [ "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 6.6m behind and 3.2m to the right and is moving at 9.1 m/s.\nThere is a green traffic light 8.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.7 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 6.7m behind and 3.3m to the right and is moving at 9.1 m/s.\nThere is a green traffic light 7.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.9 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 6.8m behind and 3.3m to the right and is moving at 9.2 m/s.\nThere is a green traffic light 7.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 6.9m behind and 3.2m to the right and is moving at 9.2 m/s.\nThere is a green traffic light 7.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.0m behind and 3.2m to the right and is moving at 9.2 m/s.\nThere is a green traffic light 7.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.8 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.0m behind and 3.2m to the right and is moving at 9.3 m/s.\nThere is a green traffic light 7.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.9 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.1m behind and 3.2m to the right and is moving at 9.3 m/s.\nThere is a green traffic light 7.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.9 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.1m behind and 3.2m to the right and is moving at 9.3 m/s.\nThere is a green traffic light 7.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.9 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.2m behind and 3.2m to the right and is moving at 9.4 m/s.\nThere is a green traffic light 8.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.0 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.3m behind and 3.2m to the right and is moving at 9.4 m/s.\nThere is a green traffic light 8.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 9.9 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.3m behind and 3.2m to the right and is moving at 9.4 m/s.\nThere is a green traffic light 9.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.0 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.4m behind and 3.2m to the right and is moving at 9.5 m/s.\nThere is a green traffic light 9.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.0 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.5m behind and 3.2m to the right and is moving at 9.5 m/s.\nThere is a green traffic light 10.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.5m behind and 3.2m to the right and is moving at 9.6 m/s.\nThere is a green traffic light 11.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.0 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.6m behind and 3.2m to the right and is moving at 9.6 m/s.\nThere is a green traffic light 12.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.0 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.6m behind and 3.2m to the right and is moving at 9.6 m/s.\nThere is a green traffic light 12.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.7m behind and 3.2m to the right and is moving at 9.7 m/s.\nThere is a green traffic light 13.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.8m behind and 3.2m to the right and is moving at 9.8 m/s.\nThere is a red traffic light 13.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.8m behind and 3.2m to the right and is moving at 9.8 m/s.\nThere is a red traffic light 12.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.2 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.8m behind and 3.2m to the right and is moving at 9.8 m/s.\nThere is a red traffic light 11.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.2 m/s.\nThere are 1 vehicle(s), 7 pedestrian(s) nearby.\nThe closest vehicle is 7.9m behind and 3.2m to the right and is moving at 9.9 m/s.\nThere is a red traffic light 11.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_44_step_0.png", "scenario_44_step_1.png", "scenario_44_step_2.png", "scenario_44_step_3.png", "scenario_44_step_4.png", "scenario_44_step_5.png", "scenario_44_step_6.png", "scenario_44_step_7.png", "scenario_44_step_8.png", "scenario_44_step_9.png", "scenario_44_step_10.png", "scenario_44_step_11.png", "scenario_44_step_12.png", "scenario_44_step_13.png", "scenario_44_step_14.png", "scenario_44_step_15.png", "scenario_44_step_16.png", "scenario_44_step_17.png", "scenario_44_step_18.png", "scenario_44_step_19.png", "scenario_44_step_20.png" ], "num_steps": 21 }, { "scenario_id": 45, "descriptions": [ "The ego vehicle is moving at 2.7 m/s.\nThe closest vehicle is 2.6m behind and is stationary.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is approaching a slight right turn in approximately 2m.", "The ego vehicle is moving at 2.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 2.9m behind and is stationary.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is approaching a slight right turn in approximately 2m.", "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.1m behind and is stationary.\nThe ego vehicle is slightly off its planned route (1.1m).\nThe ego vehicle is approaching a slight right turn in approximately 2m.", "The ego vehicle is moving at 2.8 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.4m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", "The ego vehicle is moving at 2.3 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.7m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", "The ego vehicle is moving at 2.6 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 3.9m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", "The ego vehicle is moving at 2.5 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 4.2m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", "The ego vehicle is moving at 2.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 13m.", "The ego vehicle is moving at 2.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.8 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 2.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.2 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.4 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.3 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 3.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 4.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_45_step_0.png", "scenario_45_step_1.png", "scenario_45_step_2.png", "scenario_45_step_3.png", "scenario_45_step_4.png", "scenario_45_step_5.png", "scenario_45_step_6.png", "scenario_45_step_7.png", "scenario_45_step_8.png", "scenario_45_step_9.png", "scenario_45_step_10.png", "scenario_45_step_11.png", "scenario_45_step_12.png", "scenario_45_step_13.png", "scenario_45_step_14.png", "scenario_45_step_15.png", "scenario_45_step_16.png", "scenario_45_step_17.png", "scenario_45_step_18.png", "scenario_45_step_19.png", "scenario_45_step_20.png" ], "num_steps": 21 }, { "scenario_id": 46, "descriptions": [ "The ego vehicle is moving at 6.5 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.1m in front and 6.5m to the left and is stationary.\nThere is a green traffic light 21.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.5 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 0.4m in front and 6.5m to the left and is stationary.\nThere is a green traffic light 20.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 0.2m behind and 6.5m to the left and is stationary.\nThere is a green traffic light 20.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 0.8m behind and 6.5m to the left and is stationary.\nThere is a green traffic light 19.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.5m behind and 6.5m to the left and is stationary.\nThere is a green traffic light 18.8m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 2.1m behind and 6.5m to the left and is stationary.\nThere is a green traffic light 18.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 2.8m behind and 6.5m to the left and is stationary.\nThere is a green traffic light 17.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 6.5m in front and 3.2m to the left and is moving at 7.0 m/s.\nThere is a green traffic light 16.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 6.5m in front and 3.2m to the left and is moving at 7.0 m/s.\nThere is a green traffic light 16.2m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 6.6m in front and 3.2m to the left and is moving at 7.1 m/s.\nThere is a green traffic light 15.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 6.6m in front and 3.1m to the left and is moving at 7.2 m/s.\nThere is a green traffic light 14.9m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.6 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 2.2m in front and 6.8m to the left and is stationary.\nThere is a green traffic light 14.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.7 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.6m in front and 6.8m to the left and is stationary.\nThere is a green traffic light 13.6m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.8 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.0m in front and 6.8m to the left and is stationary.\nThere is a green traffic light 13.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.8 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 0.3m in front and 6.8m to the left and is stationary.\nThere is a green traffic light 12.3m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.8 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 0.3m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 11.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.8 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.0m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 11.0m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.9 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 1.7m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 10.4m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.0 m/s.\nThere are 6 vehicle(s) nearby.\nThe closest vehicle is 2.4m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 9.7m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.9 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.0m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 9.1m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 7.0 m/s.\nThere are 5 vehicle(s) nearby.\nThe closest vehicle is 3.7m behind and 6.8m to the left and is stationary.\nThere is a green traffic light 8.5m ahead.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_46_step_0.png", "scenario_46_step_1.png", "scenario_46_step_2.png", "scenario_46_step_3.png", "scenario_46_step_4.png", "scenario_46_step_5.png", "scenario_46_step_6.png", "scenario_46_step_7.png", "scenario_46_step_8.png", "scenario_46_step_9.png", "scenario_46_step_10.png", "scenario_46_step_11.png", "scenario_46_step_12.png", "scenario_46_step_13.png", "scenario_46_step_14.png", "scenario_46_step_15.png", "scenario_46_step_16.png", "scenario_46_step_17.png", "scenario_46_step_18.png", "scenario_46_step_19.png", "scenario_46_step_20.png" ], "num_steps": 21 }, { "scenario_id": 47, "descriptions": [ "The ego vehicle is moving at 1.2 m/s.\nThere are 1 vehicle(s) nearby.\nThe closest vehicle is 1.8m behind and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.1 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 1.0 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.9 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.7 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 0.6 m/s.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is stationary.\nThere are no other vehicles, pedestrians, or cyclists nearby.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_47_step_0.png", "scenario_47_step_1.png", "scenario_47_step_2.png", "scenario_47_step_3.png", "scenario_47_step_4.png", "scenario_47_step_5.png", "scenario_47_step_6.png", "scenario_47_step_7.png", "scenario_47_step_8.png" ], "num_steps": 9 }, { "scenario_id": 48, "descriptions": [ "The ego vehicle is moving at 4.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 45.8m behind and 14.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 6m.", "The ego vehicle is moving at 4.1 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 44.0m behind and 20.0m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a sharp right turn in approximately 2m.", "The ego vehicle is moving at 4.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 42.6m behind and 23.6m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", "The ego vehicle is moving at 4.3 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 42.5m behind and 24.6m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 2m.", "The ego vehicle is moving at 4.5 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 42.0m behind and 26.2m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 5m.", "The ego vehicle is moving at 4.6 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 41.5m behind and 27.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is approaching a slight right turn in approximately 5m.", "The ego vehicle is moving at 4.7 m/s.\nThe ego vehicle is slightly off its planned route (1.1m).\nThe ego vehicle is approaching a slight right turn in approximately 4m.", "The ego vehicle is moving at 4.8 m/s.\nThe ego vehicle is slightly off its planned route (1.2m).\nThe ego vehicle is approaching a slight right turn in approximately 4m.", "The ego vehicle is moving at 4.9 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 6.7m behind and is stationary.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is approaching a slight right turn in approximately 3m.", "The ego vehicle is moving at 5.0 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 7.2m behind and 2.0m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.4m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 7.6m behind and 2.2m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.2 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 8.1m behind and 2.4m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.6m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.4 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest pedestrian is 8.6m behind and 2.6m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.5 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest vehicle is 1.3m behind and 4.1m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.5m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.5 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest vehicle is 1.8m behind and 4.1m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.4m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.7 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest vehicle is 2.3m behind and 4.1m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.3m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.7 m/s.\nThere are 1 pedestrian(s) nearby.\nThe closest vehicle is 2.8m behind and 4.1m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.2m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.8 m/s.\nThe closest vehicle is 3.3m behind and 4.2m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.1m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 5.9 m/s.\nThe closest vehicle is 3.9m behind and 4.2m to the right and is stationary.\nThe ego vehicle is slightly off its planned route (1.1m).\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.0 m/s.\nThe closest vehicle is 12.3m behind and 3.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 6.1 m/s.\nThe closest vehicle is 12.8m behind and 3.7m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_48_step_0.png", "scenario_48_step_1.png", "scenario_48_step_2.png", "scenario_48_step_3.png", "scenario_48_step_4.png", "scenario_48_step_5.png", "scenario_48_step_6.png", "scenario_48_step_7.png", "scenario_48_step_8.png", "scenario_48_step_9.png", "scenario_48_step_10.png", "scenario_48_step_11.png", "scenario_48_step_12.png", "scenario_48_step_13.png", "scenario_48_step_14.png", "scenario_48_step_15.png", "scenario_48_step_16.png", "scenario_48_step_17.png", "scenario_48_step_18.png", "scenario_48_step_19.png", "scenario_48_step_20.png" ], "num_steps": 21 }, { "scenario_id": 49, "descriptions": [ "The ego vehicle is moving at 10.0 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 11.6m behind and 3.0m to the left and is moving at 7.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.0 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 11.9m behind and 3.0m to the left and is moving at 7.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.2 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 12.2m behind and 2.9m to the left and is moving at 7.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.1 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 12.5m behind and 2.9m to the left and is moving at 7.1 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 12.8m behind and 2.9m to the left and is moving at 7.3 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 13.1m behind and 2.9m to the left and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.5 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 13.4m behind and 2.9m to the left and is moving at 7.4 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.4 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 13.8m behind and 2.9m to the left and is moving at 7.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 12.7m in front and 6.3m to the left and is moving at 11.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.6 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest vehicle is 12.7m in front and 6.4m to the left and is moving at 11.0 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.7 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 8.9m in front and 10.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.8 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 7.8m in front and 10.3m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.8 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 6.8m in front and 10.4m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 5.7m in front and 10.4m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 4.6m in front and 10.5m to the right and is stationary.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 3.5m in front and 10.5m to the right and is moving at 0.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 11.0 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 2.4m in front and 10.6m to the right and is moving at 0.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 11.0 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 1.3m in front and 10.7m to the right and is moving at 0.5 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 11.2 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 0.3m in front and 10.7m to the right and is moving at 0.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 10.9 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 0.8m behind and 10.8m to the right and is moving at 0.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route.", "The ego vehicle is moving at 11.1 m/s.\nThere are 3 vehicle(s), 4 pedestrian(s) nearby.\nThe closest pedestrian is 1.9m behind and 10.8m to the right and is moving at 0.6 m/s.\nThe ego vehicle is following its planned route.\nThe ego vehicle is on a straight section of its route." ], "image_files": [ "scenario_49_step_0.png", "scenario_49_step_1.png", "scenario_49_step_2.png", "scenario_49_step_3.png", "scenario_49_step_4.png", "scenario_49_step_5.png", "scenario_49_step_6.png", "scenario_49_step_7.png", "scenario_49_step_8.png", "scenario_49_step_9.png", "scenario_49_step_10.png", "scenario_49_step_11.png", "scenario_49_step_12.png", "scenario_49_step_13.png", "scenario_49_step_14.png", "scenario_49_step_15.png", "scenario_49_step_16.png", "scenario_49_step_17.png", "scenario_49_step_18.png", "scenario_49_step_19.png", "scenario_49_step_20.png" ], "num_steps": 21 } ]