Feature Extraction

SDC-Scissor uses road features of the test specifications for its machine learning models. To obtain the road features, we need to extract them from the test specification with the extract-features command.

Usage: sdc-scissor extract-features [OPTIONS]

  Extract road features from given test scenarios.

Options:
  -t, --tests PATH         Path to directory containing the tests
  -s, --segmentation TEXT
  --help

The following figure illustrates a road specification with its segments, direct distances of the segments sd well the spanned ares for measuring the diversity. The exact features are described in the table below.

The command will output a CSV file describing the following features per test case:

Feature	Description
direct_distance	Direct distance from the start point to the end point
road_distance	Distance of the road
num_l_turns	Number of left turns
num_r_turns	Number of right turns
num_straights	Number of straight road segments without turns
median_angle	Median turn angle of all turns of the road
total_angle	Total cumulated angle of all turns
mean_angle	Mean of all turn angles
std_angle	Standard deviation of the turn angles of the road
max_angle	Maximum turn angle of the road
min_angle	Minimum turn angle of the road
median_pivot_off	Median radius of all turns of the road
mean_pivot_off	Mean arithmetic mean of all turn radius
std_pivot_off	Standard deviation of turn radius of the road
max_pivot_off	Maximum radius of all turns of the road
min_pivot_off	Minimum radius of all turns of the road
mean_road_diversity	Mean area of all spanned areas by segments between the actual road and the direct distance of the segment
full_road_diversity	Cumulative area spanned by all roads and direct distances per segment
test_duration	Duration of the test (not available before test execution)
safety	Test outcome specifying if the car was in lane or not (not available before test execution)

Options

The command extract-features comes with several options. Those options are mainly about to configure the feature extraction process.

Feature Statistics

To get an overview of the descriptive statistics of the extracted road features of your tests you can run the feature-statistics command.