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.
19.9k
1{2 "key_object_infos": {3 "<c354<CAM_FRONT,553.8,515.3>>": {4 "id": "354",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 [12 461.0,13 458.214 ],15 [16 646.6,17 572.418 ]19 ]20 },21 "3d_bbox": {22 "CAM_FRONT": [23 [24 14.7,25 -4.3,26 -0.127 ],28 [29 14.7,30 -4.3,31 -1.632 ],33 [34 14.7,35 -2.5,36 -0.137 ],38 [39 14.7,40 -2.5,41 -1.642 ],43 [44 19.3,45 -4.4,46 -0.147 ],48 [49 19.3,50 -4.4,51 -1.652 ],53 [54 19.4,55 -2.6,56 -0.157 ],58 [59 19.4,60 -2.6,61 -1.662 ]63 ]64 },65 "is_role": false,66 "is_dangerous": false,67 "obj_dict": {68 "class": "vehicle",69 "state": "dynamic",70 "id": "354",71 "location": [72 -139.81814575195312,73 52.02370834350586,74 -0.001359138404950499575 ],76 "rotation": [77 0.1977134793996811,78 -0.00384521484375,79 0.734580755233764680 ],81 "bbx_loc": [82 -0.002597770420834422,83 -1.8829632608685642e-06,84 0.720362007617950485 ],86 "center": [87 -139.82322692871094,88 52.02359390258789,89 0.718989610671997190 ],91 "extent": [92 2.3368194103240967,93 0.9059062600135803,94 0.720973670482635595 ],96 "world_cord": [97 [98 -137.50071716308594,99 52.95930480957031,100 1.4480836391448975101 ],102 [103 -137.49574279785156,104 52.95946502685547,105 0.006144801154732704106 ],107 [108 -137.4774932861328,109 51.147640228271484,110 1.4479620456695557111 ],112 [113 -137.47251892089844,114 51.14780044555664,115 0.006023207679390907116 ],117 [118 -142.1739501953125,119 52.899383544921875,120 1.4319560527801514121 ],122 [123 -142.16897583007812,124 52.8995475769043,125 -0.009982732124626637126 ],127 [128 -142.1507110595703,129 51.08772277832031,130 1.4318344593048096131 ],132 [133 -142.14573669433594,134 51.08788299560547,135 -0.010104325599968433136 ]137 ],138 "semantic_tags": [139 14140 ],141 "type_id": "vehicle.mercedes.coupe_2020",142 "color": "0,0,0",143 "base_type": "car",144 "num_points": 75,145 "distance": 18.1355560924705,146 "speed": 3.038292010735419,147 "brake": 0.0,148 "light_state": "3",149 "road_id": 0,150 "lane_id": 1,151 "section_id": 0,152 "world2vehicle": [153 [154 0.9999118447303772,155 0.012820425443351269,156 0.0034507443197071552,157 139.13885498046875158 ],159 [160 -0.012820733711123466,161 0.9999178051948547,162 6.711125752190128e-05,163 -53.81200408935547164 ],165 [166 -0.0034496004227548838,167 -0.00011134641681564972,168 0.9999940395355225,169 -0.4751649498939514170 ],171 [172 0.0,173 0.0,174 0.0,175 1.0176 ]177 ],178 "position": [179 17.799628624751833,180 -3.474375344374805,181 0.023652201000132975182 ],183 "yaw": 3.127734757538322,184 "color_rgb": null,185 "color_name": null,186 "lane_type": 2,187 "lane_type_str": "Driving",188 "is_in_junction": false,189 "junction_id": -1,190 "distance_to_junction": 30.999998092651367,191 "next_junction_id": 68,192 "next_road_ids": [193 71194 ],195 "next_next_road_ids": [196 44197 ],198 "same_road_as_ego": true,199 "same_direction_as_ego": false,200 "lane_relative_to_ego": -1,201 "steer": 0.020192959547797287,202 "vehicle_cuts_in": false203 },204 "position": [205 17.799628624751833,206 -3.474375344374805,207 0.023652201000132975208 ],209 "distance": 18.1355560924705,210 "speed": [211 17.799628624751833,212 -3.474375344374805,213 0.023652201000132975214 ],215 "same_dir": false,216 "is_sign": false217 },218 "<e2<CAM_FRONT>>": {219 "id": null,220 "Category": "Traffic element",221 "Status": null,222 "Visual_description": "Junction",223 "Detailed_description": "the junction",224 "2d_bbox": {},225 "3d_bbox": {},226 "is_role": false,227 "is_dangerous": false,228 "obj_dict": {229 "distance": 23.70737648010254230 },231 "position": null,232 "distance": 23.70737648010254,233 "speed": null,234 "same_dir": false,235 "is_sign": false236 }237 },238 "QA": {239 "perception": [240 {241 "Q": "What are the important objects in the scene?",242 "A": "The important objects in the scene are a junction and the black car to the front left of the ego vehicle.",243 "C": null,244 "qid": 18,245 "con_up": -1,246 "con_down": -1,247 "cluster": 0,248 "layer": 0,249 "object_tags": [250 "<c354<CAM_FRONT,553.8,515.3>>",251 "<e2<CAM_FRONT>>"252 ]253 },254 {255 "Q": "What are the important objects in the scene? List them from most to least important.",256 "A": "The black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>), the junction(<e2<CAM_FRONT>>).",257 "C": null,258 "qid": 19,259 "con_up": -1,260 "con_down": -1,261 "cluster": 0,262 "layer": 0,263 "object_tags": [264 "<c354<CAM_FRONT,553.8,515.3>>",265 "<e2<CAM_FRONT>>"266 ]267 },268 {269 "Q": "Where on the road is the black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) located?",270 "A": "The black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle.",271 "C": null,272 "qid": 20,273 "con_up": [274 [275 4,276 1277 ],278 [279 4,280 2281 ],282 [283 4,284 3285 ]286 ],287 "con_down": [288 [289 3,290 0291 ],292 [293 3,294 2295 ],296 [297 3,298 3299 ]300 ],301 "cluster": 4,302 "layer": 0,303 "object_tags": [304 "<c354<CAM_FRONT,553.8,515.3>>"305 ]306 },307 {308 "Q": "What are the important vehicles in the scene and where on the road are they located? List them from most to least important.",309 "A": "The black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>), which is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle.",310 "C": null,311 "qid": 26,312 "con_up": [313 [314 4,315 3316 ]317 ],318 "con_down": [319 [320 4,321 0322 ]323 ],324 "cluster": 4,325 "layer": 1,326 "object_tags": [327 "<c354<CAM_FRONT,553.8,515.3>>"328 ]329 },330 {331 "Q": "The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>).' Where on the road are they located?",332 "A": "The black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) is on the same road driving in the opposite direction. It is one lane to the left of the ego vehicle.",333 "C": null,334 "qid": 27,335 "con_up": [336 [337 4,338 3339 ]340 ],341 "con_down": [342 [343 4,344 0345 ]346 ],347 "cluster": 4,348 "layer": 1,349 "object_tags": [350 "<c354<CAM_FRONT,553.8,515.3>>"351 ]352 },353 {354 "Q": "Is the ego vehicle at a junction?",355 "A": "The ego vehicle is right before a junction.",356 "C": null,357 "qid": 35,358 "con_up": [359 [360 1,361 0362 ],363 [364 2,365 0366 ],367 [368 3,369 1370 ],371 [372 3,373 2374 ],375 [376 3,377 3378 ],379 [380 4,381 0382 ]383 ],384 "con_down": -1,385 "cluster": 3,386 "layer": 0,387 "object_tags": []388 },389 {390 "Q": "How many lanes are there in the same direction as the ego car?",391 "A": "There is one lane in the same direction.",392 "C": null,393 "qid": 34,394 "con_up": [395 [396 3,397 1398 ],399 [400 3,401 3402 ],403 [404 3,405 4406 ],407 [408 3,409 5410 ],411 [412 3,413 6414 ],415 [416 3,417 7418 ],419 [420 4,421 0422 ]423 ],424 "con_down": [425 [426 3,427 0428 ]429 ],430 "cluster": 3,431 "layer": 2,432 "object_tags": []433 },434 {435 "Q": "How many lanes are there in the opposite direction to the ego car?",436 "A": "There is one lane in the opposite direction.",437 "C": null,438 "qid": 34,439 "con_up": [440 [441 3,442 1443 ],444 [445 3,446 3447 ],448 [449 3,450 4451 ],452 [453 3,454 5455 ],456 [457 3,458 6459 ],460 [461 3,462 7463 ],464 [465 4,466 0467 ]468 ],469 "con_down": [470 [471 3,472 0473 ]474 ],475 "cluster": 3,476 "layer": 2,477 "object_tags": []478 },479 {480 "Q": "On which lane is the ego vehicle (left most lane of the lanes going in the same direction is indicated with 0)?",481 "A": "The ego vehicle is on lane 0.",482 "C": null,483 "qid": 33,484 "con_up": [485 [486 3,487 1488 ],489 [490 3,491 4492 ],493 [494 3,495 5496 ],497 [498 3,499 6500 ],501 [502 4,503 0504 ]505 ],506 "con_down": [507 [508 3,509 0510 ]511 ],512 "cluster": 3,513 "layer": 3,514 "object_tags": []515 },516 {517 "Q": "What lane marking is on the left side of the ego car?",518 "A": "There is no lane marking on the left side of the ego car.",519 "C": null,520 "qid": 32,521 "con_up": [522 [523 3,524 5525 ],526 [527 3,528 6529 ]530 ],531 "con_down": [532 [533 3,534 2535 ],536 [537 3,538 3539 ]540 ],541 "cluster": 3,542 "layer": 4,543 "object_tags": []544 },545 {546 "Q": "What lane marking is on the right side of the ego car?",547 "A": "There is no lane marking on the right side of the ego car.",548 "C": null,549 "qid": 32,550 "con_up": [551 [552 3,553 5554 ],555 [556 3,557 6558 ]559 ],560 "con_down": [561 [562 3,563 2564 ],565 [566 3,567 3568 ]569 ],570 "cluster": 3,571 "layer": 4,572 "object_tags": []573 },574 {575 "Q": "Describe the current lane's direction.",576 "A": "The current lane is going straight.",577 "C": null,578 "qid": 44,579 "con_up": -1,580 "con_down": -1,581 "cluster": 3,582 "layer": 6,583 "object_tags": []584 },585 {586 "Q": "Is the ego vehicle affected by a traffic light?",587 "A": "No, the ego vehicle is not affected by a traffic light.",588 "C": null,589 "qid": 5,590 "con_up": [591 [592 2,593 1594 ]595 ],596 "con_down": [597 [598 3,599 0600 ]601 ],602 "cluster": 2,603 "layer": 0,604 "object_tags": []605 },606 {607 "Q": "How many pedestrians are there?",608 "A": "There are no pedestrians.",609 "C": null,610 "qid": 1,611 "con_up": [612 [613 6,614 0615 ]616 ],617 "con_down": -1,618 "cluster": 5,619 "layer": 0,620 "object_tags": []621 },622 {623 "Q": "What is current time and weather?",624 "A": "It is daytime, near dusk or dawn, raining heavily.",625 "C": null,626 "qid": 37,627 "con_up": -1,628 "con_down": -1,629 "cluster": 3,630 "layer": 1,631 "object_tags": []632 },633 {634 "Q": "Is there an obstacle on the current road?",635 "A": "No, there is no obstacle on the current route.",636 "C": null,637 "qid": 11,638 "con_up": [639 [640 3,641 8642 ]643 ],644 "con_down": -1,645 "cluster": 3,646 "layer": 9,647 "object_tags": []648 },649 {650 "Q": "What is the current speed limit?",651 "A": "There's no speed limit now.",652 "C": null,653 "qid": 7,654 "con_up": [655 [656 6,657 0658 ]659 ],660 "con_down": [661 [662 3,663 2664 ]665 ],666 "cluster": 3,667 "layer": 7,668 "object_tags": []669 }670 ],671 "prediction": [672 {673 "Q": "Where is the black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) going?",674 "A": "The black car(<c354<CAM_FRONT,553.8,515.3>>) is going straight.",675 "C": null,676 "qid": 17,677 "con_up": [678 [679 4,680 3681 ]682 ],683 "con_down": [684 [685 4,686 0687 ]688 ],689 "cluster": 4,690 "layer": 1,691 "object_tags": [692 "<c354<CAM_FRONT,553.8,515.3>>"693 ]694 },695 {696 "Q": "What is the moving status of the black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>)?",697 "A": "The black car(<c354<CAM_FRONT,553.8,515.3>>) is driving slowly in the opposite direction of the ego vehicle.",698 "C": null,699 "qid": 16,700 "con_up": [701 [702 4,703 3704 ]705 ],706 "con_down": [707 [708 4,709 0710 ]711 ],712 "cluster": 4,713 "layer": 2,714 "object_tags": [715 "<c354<CAM_FRONT,553.8,515.3>>"716 ]717 },718 {719 "Q": "What is the rough moving speed and moving direction of black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>)?",720 "A": "The black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) is driving slowly in the opposite direction of the ego vehicle, going straight.",721 "C": null,722 "qid": 21,723 "con_up": [724 [725 4,726 3727 ]728 ],729 "con_down": [730 [731 4,732 0733 ]734 ],735 "cluster": 4,736 "layer": 1,737 "object_tags": [738 "<c354<CAM_FRONT,553.8,515.3>>"739 ]740 },741 {742 "Q": "What is the exact moving speed and moving direction of black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>)?",743 "A": "The black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) is driving at the speed of 3.0 m/s, going straight.",744 "C": null,745 "qid": 22,746 "con_up": [747 [748 4,749 3750 ]751 ],752 "con_down": [753 [754 4,755 0756 ]757 ],758 "cluster": 4,759 "layer": 1,760 "object_tags": [761 "<c354<CAM_FRONT,553.8,515.3>>"762 ]763 },764 {765 "Q": "The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>).' What are the rough moving speed and moving direction of them?",766 "A": "The black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) is driving slowly in the opposite direction of the ego vehicle, going straight.",767 "C": null,768 "qid": 24,769 "con_up": [770 [771 4,772 3773 ]774 ],775 "con_down": [776 [777 4,778 0779 ]780 ],781 "cluster": 4,782 "layer": 1,783 "object_tags": [784 "<c354<CAM_FRONT,553.8,515.3>>"785 ]786 },787 {788 "Q": "The list of important vehicles in the current scene is 'the black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>).' What are the exact moving speed and moving direction of them?",789 "A": "The black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) is driving at the speed of 3.0 m/s, going straight.",790 "C": null,791 "qid": 25,792 "con_up": [793 [794 4,795 3796 ]797 ],798 "con_down": [799 [800 4,801 0802 ]803 ],804 "cluster": 4,805 "layer": 1,806 "object_tags": [807 "<c354<CAM_FRONT,553.8,515.3>>"808 ]809 },810 {811 "Q": "The ego vehicle wants to follow the road. Apart from its lane, which lanes are important to watch out for?",812 "A": "The ego vehicle should watch out for traffic in its lane and coming from the oncoming lane.",813 "C": null,814 "qid": 36,815 "con_up": [816 [817 4,818 3819 ]820 ],821 "con_down": [822 [823 3,824 0825 ],826 [827 3,828 2829 ],830 [831 3,832 3833 ]834 ],835 "cluster": 3,836 "layer": 1,837 "object_tags": []838 },839 {840 "Q": "In which direction is the ego car allowed to change lanes?",841 "A": "The ego vehicle can not change lanes since it is on a one lane road.",842 "C": null,843 "qid": 31,844 "con_up": [845 [846 6,847 0848 ]849 ],850 "con_down": [851 [852 3,853 2854 ],855 [856 3,857 3858 ],859 [860 3,861 4862 ]863 ],864 "cluster": 3,865 "layer": 5,866 "object_tags": []867 },868 {869 "Q": "From which side are other vehicles allowed to change lanes into the ego lane?",870 "A": "There are no lane changes possible since the ego vehicle is on a one lane road.",871 "C": null,872 "qid": 30,873 "con_up": [874 [875 6,876 0877 ]878 ],879 "con_down": [880 [881 3,882 2883 ],884 [885 3,886 3887 ],888 [889 3,890 4891 ],892 [893 3,894 5895 ]896 ],897 "cluster": 3,898 "layer": 6,899 "object_tags": []900 },901 {902 "Q": "Is the ego vehicle affected by a stop sign?",903 "A": "No, the ego vehicle is not affected by a stop sign.",904 "C": null,905 "qid": 2,906 "con_up": [907 [908 1,909 1910 ]911 ],912 "con_down": [913 [914 3,915 0916 ]917 ],918 "cluster": 1,919 "layer": 0,920 "object_tags": []921 },922 {923 "Q": "Is the ego vehicle affected by a speed limit sign?",924 "A": "No, the ego vehicle is not affected by a speed limit sign.",925 "C": null,926 "qid": 3,927 "con_up": [928 [929 1,930 1931 ]932 ],933 "con_down": [934 [935 3,936 0937 ]938 ],939 "cluster": 1,940 "layer": 0,941 "object_tags": []942 },943 {944 "Q": "List the traffic signs affecting the ego vehicle in the current scenario.",945 "A": "There's no traffic sign affecting the ego vehicle.",946 "C": null,947 "qid": 4,948 "con_up": [949 [950 1,951 1952 ]953 ],954 "con_down": [955 [956 3,957 0958 ]959 ],960 "cluster": 1,961 "layer": 0,962 "object_tags": []963 },964 {965 "Q": "What is the state of the traffic light?",966 "A": "There is no traffic light affecting the ego vehicle.",967 "C": null,968 "qid": 6,969 "con_up": [970 [971 2,972 2973 ]974 ],975 "con_down": [976 [977 2,978 0979 ]980 ],981 "cluster": 2,982 "layer": 1,983 "object_tags": []984 },985 {986 "Q": "What is current time and weather? What hazards might it bring?",987 "A": "It is daytime, near dusk or dawn, raining heavily. The heavy rain causes low visibility, which may affect perception results. The heavy rain and the road flood may cause vehicles to skid or even lose control.",988 "C": null,989 "qid": 38,990 "con_up": -1,991 "con_down": -1,992 "cluster": 3,993 "layer": 1,994 "object_tags": []995 },996 {997 "Q": "Apart from vehicles on the road, visible pedestrians and the weather, what other factors in the current scenario could pose potential hazards?",998 "A": "The flood on the road will make vehicle more difficult to control.",999 "C": null,1000 "qid": 40,1001 "con_up": -1,1002 "con_down": -1,1003 "cluster": 3,1004 "layer": 1,1005 "object_tags": []1006 }1007 ],1008 "planning": [1009 {1010 "Q": "The ego vehicle follows the road. Is black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) potentially crossing the path of the ego vehicle? If so, why?",1011 "A": "No, the black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) is not crossing paths with the ego vehicle.",1012 "C": null,1013 "qid": 23,1014 "con_up": [1015 [1016 4,1017 31018 ]1019 ],1020 "con_down": [1021 [1022 4,1023 01024 ]1025 ],1026 "cluster": 4,1027 "layer": 1,1028 "object_tags": [1029 "<c354<CAM_FRONT,553.8,515.3>>"1030 ]1031 },1032 {1033 "Q": "The ego vehicle follows the road. Is black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) potentially crossing the path of the ego vehicle? If so, why? And what action can lead to a collision?",1034 "A": "No, the black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) is not crossing paths with the ego vehicle.",1035 "C": null,1036 "qid": 48,1037 "con_up": [1038 [1039 4,1040 31041 ]1042 ],1043 "con_down": [1044 [1045 4,1046 01047 ]1048 ],1049 "cluster": 4,1050 "layer": 1,1051 "object_tags": [1052 "<c354<CAM_FRONT,553.8,515.3>>"1053 ]1054 },1055 {1056 "Q": "The ego vehicle follows the road. Is black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) potentially crossing the path of the ego vehicle? If so, what action can lead to a collision?",1057 "A": "No, the black car that is to the front left of the ego vehicle(<c354<CAM_FRONT,553.8,515.3>>) is not crossing paths with the ego vehicle.",1058 "C": null,1059 "qid": 49,1060 "con_up": [1061 [1062 4,1063 31064 ]1065 ],1066 "con_down": [1067 [1068 4,1069 01070 ]1071 ],1072 "cluster": 4,1073 "layer": 1,1074 "object_tags": [1075 "<c354<CAM_FRONT,553.8,515.3>>"1076 ]1077 },1078 {1079 "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(<c354<CAM_FRONT,553.8,515.3>>).' Among them, please identify those that may overlap with the ego vehicle's path and provide reasons for the overlap.",1080 "A": "None of them potentially crossing the path of ego vehicle now.",1081 "C": null,1082 "qid": 28,1083 "con_up": [1084 [1085 4,1086 31087 ]1088 ],1089 "con_down": [1090 [1091 4,1092 01093 ]1094 ],1095 "cluster": 4,1096 "layer": 1,1097 "object_tags": []1098 },1099 {1100 "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(<c354<CAM_FRONT,553.8,515.3>>).' Among them, please identify those that may overlap with the ego vehicle's path.",1101 "A": "None of them potentially crossing the path of ego vehicle now.",1102 "C": null,1103 "qid": 29,1104 "con_up": [1105 [1106 4,1107 31108 ]1109 ],1110 "con_down": [1111 [1112 4,1113 01114 ]1115 ],1116 "cluster": 4,1117 "layer": 1,1118 "object_tags": []1119 },1120 {1121 "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(<c354<CAM_FRONT,553.8,515.3>>).' Among them, identify those that may overlap with the ego vehicle's path and the actions that could lead to a collision.",1122 "A": "None of them potentially crossing the path of ego vehicle now.",1123 "C": null,1124 "qid": 46,1125 "con_up": [1126 [1127 4,1128 31129 ]1130 ],1131 "con_down": [1132 [1133 4,1134 01135 ]1136 ],1137 "cluster": 4,1138 "layer": 1,1139 "object_tags": []1140 },1141 {1142 "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(<c354<CAM_FRONT,553.8,515.3>>).' 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.",1143 "A": "None of them potentially crossing the path of ego vehicle now.",1144 "C": null,1145 "qid": 47,1146 "con_up": [1147 [1148 4,1149 31150 ]1151 ],1152 "con_down": [1153 [1154 4,1155 01156 ]1157 ],1158 "cluster": 4,1159 "layer": 1,1160 "object_tags": []1161 },1162 {1163 "Q": "What is current time and weather? What should the ego vehicle do according to them?",1164 "A": "It is daytime, near dusk or dawn, raining heavily. The heavy rain causes low visibility, which may affect perception results, please drive cautiously to handle unexpected situations. The heavy rain and the road flood may cause vehicles to skid or even lose control, so drive carefully, avoid sudden movements.",1165 "C": null,1166 "qid": 39,1167 "con_up": -1,1168 "con_down": -1,1169 "cluster": 3,1170 "layer": 1,1171 "object_tags": []1172 },1173 {1174 "Q": "Apart from vehicles on the road, visible pedestrians and the weather, what other factors in the current scenario could pose potential hazards? What strategies should the ego vehicle adopt to address them?",1175 "A": "The flood on the road will make vehicle more difficult to control, so the ego vehicle should drive cautiously and be prepared for potential control loss.",1176 "C": null,1177 "qid": 41,1178 "con_up": -1,1179 "con_down": -1,1180 "cluster": 3,1181 "layer": 1,1182 "object_tags": []1183 },1184 {1185 "Q": "Does the ego vehicle need to change lanes or deviate from the lane center due to an upcoming obstruction?",1186 "A": "No, the ego vehicle can stay on its current lane.",1187 "C": null,1188 "qid": 10,1189 "con_up": [1190 [1191 6,1192 01193 ]1194 ],1195 "con_down": [1196 [1197 3,1198 91199 ]1200 ],