Traffic Light Compliance

The ego starts at a standstill 10 m short of a signalised stop line with every light red. It has to stay put while the light is red, and pull away once it turns green 5 s in -- on every lane that leads into a signalised junction.

# Every case on the map, one run each
uv run scenario --multirun hydra/sweeper=lanelet_constraint \
    scenario=traffic_light_compliance/traffic_light_compliance map=<map>

In the Scenario Editor

Scenario

Ego	Constraint search: a lanelet before a junction lanelet that has a traffic-light stop line, excluding the map's lanelets with no 3D model. Position before stop line: 10 m short of it. Goal: up the road, past the junction.
Initialization	Every traffic light red.
After 5 s	Every traffic light green.
Pass	Both have happened: the ego stood still for 2 s, and after 5.5 s it was moving at 1 km/h or more.
Fail	The ego moves at 1 km/h or more between 3 s and 4.9 s, while the light is still red -- or 8 s pass.

Parameters

Parameter	Value
Light turns green after	5.0 s
Must have stood still for	2.0 s (5.0 s minus the 3.0 s it may take to settle)
Counts as moving from	1 km/h
Ego initial speed	0 km/h
Spawn	10 m before the stop line
Timeout	8 s

Note

On Nishi-Shinjuku the search also leaves out lanelet 222, where CARLA's TrafficManager moves the ego onto another lane in the junction.

Result

Town10HD_Opt, the first case: the search matched lanelet 719, where the ego starts. Result: PASSED. Recorded with scenario.moving_speed_kmh=15, so the run ends once the ego is visibly pulling away on green rather than at its first 1 km/h; the same threshold then applies while the light is red.