Telkwevr/Bench2Drive-VL-base
Bench2Drive-VL: Full-Stack Software for Closed-Loop Autonomous Driving with Vision Language Models Project Page | GitHub | Paper Bench2Drive-VL is a comprehensive closed-loop benchmark for Vision-Language Models in Autonomous Driving (VLM4AD). It extends the Bench2Drive benchmark by introducing closed-loop evaluation and the DriveCommenter expert model for automated annotation. This repository contains the natural language annotations for the Bench2Drive-Base1000 dataset. These… See the full description on the dataset page: https://huggingface.co/datasets/Telkwevr/Bench2Drive-VL-base.
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1{2 "key_object_infos": {3 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>": {4 "id": "616",5 "Category": "Vehicle",6 "Status": null,7 "Visual_description": "black car",8 "Detailed_description": "the black car that is to the front left of the ego vehicle",9 "2d_bbox": {10 "CAM_FRONT": [11 [12 -166.9,13 469.714 ],15 [16 475.5,17 770.518 ]19 ],20 "CAM_FRONT_LEFT": [21 [22 1226.8,23 471.124 ],25 [26 1850.5,27 774.528 ]29 ]30 },31 "3d_bbox": {32 "CAM_FRONT": [33 [34 5.8,35 -4.9,36 -0.237 ],38 [39 5.8,40 -4.9,41 -1.642 ],43 [44 5.7,45 -3.1,46 -0.247 ],48 [49 5.7,50 -3.1,51 -1.652 ],53 [54 10.4,55 -4.8,56 -0.257 ],58 [59 10.4,60 -4.8,61 -1.662 ],63 [64 10.4,65 -3.0,66 -0.267 ],68 [69 10.4,70 -3.0,71 -1.672 ]73 ],74 "CAM_FRONT_LEFT": [75 [76 7.2,77 2.7,78 -0.279 ],80 [81 7.2,82 2.7,83 -1.684 ],85 [86 5.7,87 3.7,88 -0.289 ],90 [91 5.6,92 3.7,93 -1.694 ],95 [96 9.7,97 6.6,98 -0.299 ],100 [101 9.7,102 6.6,103 -1.6104 ],105 [106 8.2,107 7.6,108 -0.2109 ],110 [111 8.2,112 7.6,113 -1.6114 ]115 ]116 },117 "is_role": false,118 "is_dangerous": false,119 "obj_dict": {120 "class": "vehicle",121 "state": "dynamic",122 "id": "616",123 "location": [124 94.68755340576172,125 105.32173919677734,126 0.21890750527381897127 ],128 "rotation": [129 0.10236404091119766,130 -0.0008239744929596782,131 -179.95816040039062132 ],133 "bbx_loc": [134 -0.00259765493683517,135 -1.765398565112264e-06,136 0.7203620076179504137 ],138 "center": [139 94.69143676757812,140 105.3217544555664,141 0.9392637014389038142 ],143 "extent": [144 2.3368194103240967,145 0.9059062600135803,146 0.7209736704826355147 ],148 "world_cord": [149 [150 92.35657501220703,151 104.41415405273438,152 1.664424180984497153 ],154 [155 92.35399627685547,156 104.41413116455078,157 0.22247916460037231158 ],159 [160 92.3552474975586,161 106.22596740722656,162 1.664398193359375163 ],164 [165 92.35267639160156,166 106.22594451904297,167 0.22245310246944427168 ],169 [170 97.03020477294922,171 104.41756439208984,172 1.6560742855072021173 ],174 [175 97.02762603759766,176 104.41754150390625,177 0.21412929892539978178 ],179 [180 97.02887725830078,181 106.22937774658203,182 1.65604829788208183 ],184 [185 97.02630615234375,186 106.22935485839844,187 0.21410323679447174188 ]189 ],190 "semantic_tags": [191 14192 ],193 "type_id": "vehicle.mercedes.coupe_2020",194 "color": "0,0,0",195 "base_type": "car",196 "num_points": 358,197 "distance": 9.703620134348075,198 "speed": 14.047086499687005,199 "brake": 0.0,200 "light_state": "131",201 "road_id": 12,202 "lane_id": -1,203 "section_id": 0,204 "world2vehicle": [205 [206 -0.999998152256012,207 -0.0007301874575205147,208 0.0017865885747596622,209 94.7638931274414210 ],211 [212 0.0007302142912521958,213 -0.9999997615814209,214 1.4381044820765965e-05,215 105.25257110595703216 ],217 [218 0.0017865776317194104,219 1.5685611288063228e-05,220 0.9999983906745911,221 -0.38972586393356323222 ],223 [224 0.0,225 0.0,226 0.0,227 1.0228 ]229 ],230 "position": [231 8.877902300785465,232 -3.9170058075537857,233 -0.012750784203106713234 ],235 "yaw": -3.1166777163276658,236 "color_rgb": null,237 "color_name": null,238 "lane_type": 2,239 "lane_type_str": "Driving",240 "is_in_junction": false,241 "junction_id": -1,242 "distance_to_junction": null,243 "next_junction_id": -1,244 "next_road_ids": [245 16246 ],247 "next_next_road_ids": [248 1249 ],250 "same_road_as_ego": true,251 "same_direction_as_ego": false,252 "lane_relative_to_ego": -1,253 "steer": 0.00032934563269573823,254 "vehicle_cuts_in": false255 },256 "position": [257 8.877902300785465,258 -3.9170058075537857,259 -0.012750784203106713260 ],261 "distance": 9.703620134348075,262 "speed": [263 8.877902300785465,264 -3.9170058075537857,265 -0.012750784203106713266 ],267 "same_dir": false,268 "is_sign": false269 }270 },271 "QA": {272 "perception": [273 {274 "Q": "What are the important objects in the scene?",275 "A": "The important object in the scene is the black car to the front left of the ego vehicle.",276 "C": null,277 "qid": 18,278 "con_up": -1,279 "con_down": -1,280 "cluster": 0,281 "layer": 0,282 "object_tags": [283 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"284 ]285 },286 {287 "Q": "What are the important objects in the scene? List them from most to least important.",288 "A": "The black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>).",289 "C": null,290 "qid": 19,291 "con_up": -1,292 "con_down": -1,293 "cluster": 0,294 "layer": 0,295 "object_tags": [296 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"297 ]298 },299 {300 "Q": "Where on the road is the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) located?",301 "A": "The black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle.",302 "C": null,303 "qid": 20,304 "con_up": [305 [306 4,307 1308 ],309 [310 4,311 2312 ],313 [314 4,315 3316 ]317 ],318 "con_down": [319 [320 3,321 0322 ],323 [324 3,325 2326 ],327 [328 3,329 3330 ]331 ],332 "cluster": 4,333 "layer": 0,334 "object_tags": [335 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"336 ]337 },338 {339 "Q": "What are the important vehicles in the scene and where on the road are they located? List them from most to least important.",340 "A": "The black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>), which is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle.",341 "C": null,342 "qid": 26,343 "con_up": [344 [345 4,346 3347 ]348 ],349 "con_down": [350 [351 4,352 0353 ]354 ],355 "cluster": 4,356 "layer": 1,357 "object_tags": [358 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"359 ]360 },361 {362 "Q": "The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>).' Where on the road are they located?",363 "A": "The black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle.",364 "C": null,365 "qid": 27,366 "con_up": [367 [368 4,369 3370 ]371 ],372 "con_down": [373 [374 4,375 0376 ]377 ],378 "cluster": 4,379 "layer": 1,380 "object_tags": [381 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"382 ]383 },384 {385 "Q": "Is the ego vehicle at a junction?",386 "A": "No, the ego vehicle is not at a junction.",387 "C": null,388 "qid": 35,389 "con_up": [390 [391 1,392 0393 ],394 [395 2,396 0397 ],398 [399 3,400 1401 ],402 [403 3,404 2405 ],406 [407 3,408 3409 ],410 [411 4,412 0413 ]414 ],415 "con_down": -1,416 "cluster": 3,417 "layer": 0,418 "object_tags": []419 },420 {421 "Q": "How many lanes are there in the same direction as the ego car?",422 "A": "There is one lane in the same direction.",423 "C": null,424 "qid": 34,425 "con_up": [426 [427 3,428 1429 ],430 [431 3,432 3433 ],434 [435 3,436 4437 ],438 [439 3,440 5441 ],442 [443 3,444 6445 ],446 [447 3,448 7449 ],450 [451 4,452 0453 ]454 ],455 "con_down": [456 [457 3,458 0459 ]460 ],461 "cluster": 3,462 "layer": 2,463 "object_tags": []464 },465 {466 "Q": "How many lanes are there in the opposite direction to the ego car?",467 "A": "There is one lane in the opposite direction.",468 "C": null,469 "qid": 34,470 "con_up": [471 [472 3,473 1474 ],475 [476 3,477 3478 ],479 [480 3,481 4482 ],483 [484 3,485 5486 ],487 [488 3,489 6490 ],491 [492 3,493 7494 ],495 [496 4,497 0498 ]499 ],500 "con_down": [501 [502 3,503 0504 ]505 ],506 "cluster": 3,507 "layer": 2,508 "object_tags": []509 },510 {511 "Q": "On which lane is the ego vehicle (left most lane of the lanes going in the same direction is indicated with 0)?",512 "A": "The ego vehicle is on lane 0.",513 "C": null,514 "qid": 33,515 "con_up": [516 [517 3,518 1519 ],520 [521 3,522 4523 ],524 [525 3,526 5527 ],528 [529 3,530 6531 ],532 [533 4,534 0535 ]536 ],537 "con_down": [538 [539 3,540 0541 ]542 ],543 "cluster": 3,544 "layer": 3,545 "object_tags": []546 },547 {548 "Q": "What lane marking is on the left side of the ego car?",549 "A": "The lane marking on the left side of the ego car is a yellow broken lane.",550 "C": null,551 "qid": 32,552 "con_up": [553 [554 3,555 5556 ],557 [558 3,559 6560 ]561 ],562 "con_down": [563 [564 3,565 2566 ],567 [568 3,569 3570 ]571 ],572 "cluster": 3,573 "layer": 4,574 "object_tags": []575 },576 {577 "Q": "What lane marking is on the right side of the ego car?",578 "A": "There is no lane marking on the right side of the ego car.",579 "C": null,580 "qid": 32,581 "con_up": [582 [583 3,584 5585 ],586 [587 3,588 6589 ]590 ],591 "con_down": [592 [593 3,594 2595 ],596 [597 3,598 3599 ]600 ],601 "cluster": 3,602 "layer": 4,603 "object_tags": []604 },605 {606 "Q": "Describe the current lane's direction.",607 "A": "The current lane is going straight.",608 "C": null,609 "qid": 44,610 "con_up": -1,611 "con_down": -1,612 "cluster": 3,613 "layer": 6,614 "object_tags": []615 },616 {617 "Q": "Is the ego vehicle affected by a traffic light?",618 "A": "No, the ego vehicle is not affected by a traffic light.",619 "C": null,620 "qid": 5,621 "con_up": [622 [623 2,624 1625 ]626 ],627 "con_down": [628 [629 3,630 0631 ]632 ],633 "cluster": 2,634 "layer": 0,635 "object_tags": []636 },637 {638 "Q": "How many pedestrians are there?",639 "A": "There are no pedestrians.",640 "C": null,641 "qid": 1,642 "con_up": [643 [644 6,645 0646 ]647 ],648 "con_down": -1,649 "cluster": 5,650 "layer": 0,651 "object_tags": []652 },653 {654 "Q": "What is current time and weather?",655 "A": "It is noon, raining moderately and foggy.",656 "C": null,657 "qid": 37,658 "con_up": -1,659 "con_down": -1,660 "cluster": 3,661 "layer": 1,662 "object_tags": []663 },664 {665 "Q": "Is there an obstacle on the current road?",666 "A": "No, there is no obstacle on the current route.",667 "C": null,668 "qid": 11,669 "con_up": [670 [671 3,672 8673 ]674 ],675 "con_down": -1,676 "cluster": 3,677 "layer": 9,678 "object_tags": []679 },680 {681 "Q": "What is the current speed limit?",682 "A": "There's no speed limit now.",683 "C": null,684 "qid": 7,685 "con_up": [686 [687 6,688 0689 ]690 ],691 "con_down": [692 [693 3,694 2695 ]696 ],697 "cluster": 3,698 "layer": 7,699 "object_tags": []700 }701 ],702 "prediction": [703 {704 "Q": "Where is the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) going?",705 "A": "The black car(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) is going straight.",706 "C": null,707 "qid": 17,708 "con_up": [709 [710 4,711 3712 ]713 ],714 "con_down": [715 [716 4,717 0718 ]719 ],720 "cluster": 4,721 "layer": 1,722 "object_tags": [723 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"724 ]725 },726 {727 "Q": "What is the moving status of the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>)?",728 "A": "The black car(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) is driving at a normal speed in the opposite direction of the ego vehicle.",729 "C": null,730 "qid": 16,731 "con_up": [732 [733 4,734 3735 ]736 ],737 "con_down": [738 [739 4,740 0741 ]742 ],743 "cluster": 4,744 "layer": 2,745 "object_tags": [746 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"747 ]748 },749 {750 "Q": "What is the rough moving speed and moving direction of black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>)?",751 "A": "The black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) is driving at a normal speed in the opposite direction of the ego vehicle, going straight.",752 "C": null,753 "qid": 21,754 "con_up": [755 [756 4,757 3758 ]759 ],760 "con_down": [761 [762 4,763 0764 ]765 ],766 "cluster": 4,767 "layer": 1,768 "object_tags": [769 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"770 ]771 },772 {773 "Q": "What is the exact moving speed and moving direction of black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>)?",774 "A": "The black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) is driving at the speed of 14.0 m/s, going straight.",775 "C": null,776 "qid": 22,777 "con_up": [778 [779 4,780 3781 ]782 ],783 "con_down": [784 [785 4,786 0787 ]788 ],789 "cluster": 4,790 "layer": 1,791 "object_tags": [792 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"793 ]794 },795 {796 "Q": "The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>).' What are the rough moving speed and moving direction of them?",797 "A": "The black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) is driving at a normal speed in the opposite direction of the ego vehicle, going straight.",798 "C": null,799 "qid": 24,800 "con_up": [801 [802 4,803 3804 ]805 ],806 "con_down": [807 [808 4,809 0810 ]811 ],812 "cluster": 4,813 "layer": 1,814 "object_tags": [815 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"816 ]817 },818 {819 "Q": "The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>).' What are the exact moving speed and moving direction of them?",820 "A": "The black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) is driving at the speed of 14.0 m/s, going straight.",821 "C": null,822 "qid": 25,823 "con_up": [824 [825 4,826 3827 ]828 ],829 "con_down": [830 [831 4,832 0833 ]834 ],835 "cluster": 4,836 "layer": 1,837 "object_tags": [838 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"839 ]840 },841 {842 "Q": "The ego vehicle wants to follow the road. Apart from its lane, which lanes are important to watch out for?",843 "A": "The ego vehicle should watch out for traffic in its lane and coming from the oncoming lane.",844 "C": null,845 "qid": 36,846 "con_up": [847 [848 4,849 3850 ]851 ],852 "con_down": [853 [854 3,855 0856 ],857 [858 3,859 2860 ],861 [862 3,863 3864 ]865 ],866 "cluster": 3,867 "layer": 1,868 "object_tags": []869 },870 {871 "Q": "In which direction is the ego car allowed to change lanes?",872 "A": "The ego vehicle can not change lanes since it is on a one lane road.",873 "C": null,874 "qid": 31,875 "con_up": [876 [877 6,878 0879 ]880 ],881 "con_down": [882 [883 3,884 2885 ],886 [887 3,888 3889 ],890 [891 3,892 4893 ]894 ],895 "cluster": 3,896 "layer": 5,897 "object_tags": []898 },899 {900 "Q": "From which side are other vehicles allowed to change lanes into the ego lane?",901 "A": "There are no lane changes possible since the ego vehicle is on a one lane road.",902 "C": null,903 "qid": 30,904 "con_up": [905 [906 6,907 0908 ]909 ],910 "con_down": [911 [912 3,913 2914 ],915 [916 3,917 3918 ],919 [920 3,921 4922 ],923 [924 3,925 5926 ]927 ],928 "cluster": 3,929 "layer": 6,930 "object_tags": []931 },932 {933 "Q": "Is the ego vehicle affected by a stop sign?",934 "A": "No, the ego vehicle is not affected by a stop sign.",935 "C": null,936 "qid": 2,937 "con_up": [938 [939 1,940 1941 ]942 ],943 "con_down": [944 [945 3,946 0947 ]948 ],949 "cluster": 1,950 "layer": 0,951 "object_tags": []952 },953 {954 "Q": "Is the ego vehicle affected by a speed limit sign?",955 "A": "No, the ego vehicle is not affected by a speed limit sign.",956 "C": null,957 "qid": 3,958 "con_up": [959 [960 1,961 1962 ]963 ],964 "con_down": [965 [966 3,967 0968 ]969 ],970 "cluster": 1,971 "layer": 0,972 "object_tags": []973 },974 {975 "Q": "List the traffic signs affecting the ego vehicle in the current scenario.",976 "A": "There's no traffic sign affecting the ego vehicle.",977 "C": null,978 "qid": 4,979 "con_up": [980 [981 1,982 1983 ]984 ],985 "con_down": [986 [987 3,988 0989 ]990 ],991 "cluster": 1,992 "layer": 0,993 "object_tags": []994 },995 {996 "Q": "What is the state of the traffic light?",997 "A": "There is no traffic light affecting the ego vehicle.",998 "C": null,999 "qid": 6,1000 "con_up": [1001 [1002 2,1003 21004 ]1005 ],1006 "con_down": [1007 [1008 2,1009 01010 ]1011 ],1012 "cluster": 2,1013 "layer": 1,1014 "object_tags": []1015 },1016 {1017 "Q": "What is current time and weather? What hazards might it bring?",1018 "A": "It is noon, raining moderately and foggy. The moderate rain and the fog causes low visibility, which may affect perception results. The moderate rain and the puddles on the road may cause vehicles to skid or even lose control.",1019 "C": null,1020 "qid": 38,1021 "con_up": -1,1022 "con_down": -1,1023 "cluster": 3,1024 "layer": 1,1025 "object_tags": []1026 },1027 {1028 "Q": "Apart from vehicles on the road, visible pedestrians and the weather, what other factors in the current scenario could pose potential hazards?",1029 "A": "The puddles on the road will make vehicle more difficult to control.",1030 "C": null,1031 "qid": 40,1032 "con_up": -1,1033 "con_down": -1,1034 "cluster": 3,1035 "layer": 1,1036 "object_tags": []1037 }1038 ],1039 "planning": [1040 {1041 "Q": "The ego vehicle follows the road. Is black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) potentially crossing the path of the ego vehicle? If so, why?",1042 "A": "No, the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) is not crossing paths with the ego vehicle.",1043 "C": null,1044 "qid": 23,1045 "con_up": [1046 [1047 4,1048 31049 ]1050 ],1051 "con_down": [1052 [1053 4,1054 01055 ]1056 ],1057 "cluster": 4,1058 "layer": 1,1059 "object_tags": [1060 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"1061 ]1062 },1063 {1064 "Q": "The ego vehicle follows the road. Is black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) potentially crossing the path of the ego vehicle? If so, why? And what action can lead to a collision?",1065 "A": "No, the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) is not crossing paths with the ego vehicle.",1066 "C": null,1067 "qid": 48,1068 "con_up": [1069 [1070 4,1071 31072 ]1073 ],1074 "con_down": [1075 [1076 4,1077 01078 ]1079 ],1080 "cluster": 4,1081 "layer": 1,1082 "object_tags": [1083 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"1084 ]1085 },1086 {1087 "Q": "The ego vehicle follows the road. Is black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) potentially crossing the path of the ego vehicle? If so, what action can lead to a collision?",1088 "A": "No, the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>) is not crossing paths with the ego vehicle.",1089 "C": null,1090 "qid": 49,1091 "con_up": [1092 [1093 4,1094 31095 ]1096 ],1097 "con_down": [1098 [1099 4,1100 01101 ]1102 ],1103 "cluster": 4,1104 "layer": 1,1105 "object_tags": [1106 "<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>"1107 ]1108 },1109 {1110 "Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>).' Among them, please identify those that may overlap with the ego vehicle's path and provide reasons for the overlap.",1111 "A": "None of them potentially crossing the path of ego vehicle now.",1112 "C": null,1113 "qid": 28,1114 "con_up": [1115 [1116 4,1117 31118 ]1119 ],1120 "con_down": [1121 [1122 4,1123 01124 ]1125 ],1126 "cluster": 4,1127 "layer": 1,1128 "object_tags": []1129 },1130 {1131 "Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>).' Among them, please identify those that may overlap with the ego vehicle's path.",1132 "A": "None of them potentially crossing the path of ego vehicle now.",1133 "C": null,1134 "qid": 29,1135 "con_up": [1136 [1137 4,1138 31139 ]1140 ],1141 "con_down": [1142 [1143 4,1144 01145 ]1146 ],1147 "cluster": 4,1148 "layer": 1,1149 "object_tags": []1150 },1151 {1152 "Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>).' Among them, identify those that may overlap with the ego vehicle's path and the actions that could lead to a collision.",1153 "A": "None of them potentially crossing the path of ego vehicle now.",1154 "C": null,1155 "qid": 46,1156 "con_up": [1157 [1158 4,1159 31160 ]1161 ],1162 "con_down": [1163 [1164 4,1165 01166 ]1167 ],1168 "cluster": 4,1169 "layer": 1,1170 "object_tags": []1171 },1172 {1173 "Q": "The ego vehicle follows the road. The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c616<CAM_FRONT,154.3,620.1><CAM_FRONT_LEFT,1538.6,622.8>>).' Among them, identify those that may overlap with the ego vehicle's path, provide reasons for the overlap and the actions that could lead to a collision.",1174 "A": "None of them potentially crossing the path of ego vehicle now.",1175 "C": null,1176 "qid": 47,1177 "con_up": [1178 [1179 4,1180 31181 ]1182 ],1183 "con_down": [1184 [1185 4,1186 01187 ]1188 ],1189 "cluster": 4,1190 "layer": 1,1191 "object_tags": []1192 },1193 {1194 "Q": "What is current time and weather? What should the ego vehicle do according to them?",1195 "A": "It is noon, raining moderately and foggy. The moderate rain and the fog causes low visibility, which may affect perception results, please drive cautiously to handle unexpected situations. The moderate rain and the puddles on the road may cause vehicles to skid or even lose control, so drive carefully, avoid sudden movements.",1196 "C": null,1197 "qid": 39,1198 "con_up": -1,1199 "con_down": -1,1200 "cluster": 3,