{
  "case": 172,
  "pre2_curve_peak": {
    "t": -1.17445927,
    "curvature": 0.0017881515668705,
    "desiredCurvature": 0.0002861240063793,
    "delta": 0.0015020275604911999,
    "enabled": false,
    "active": false
  },
  "bracketing_vehicle": [
    {
      "t": -1.200032083,
      "vEgo": 2.8341321945,
      "aEgo": -1.0373823643,
      "brakePressed": false,
      "gasPressed": true,
      "steeringPressed": false,
      "steeringAngleDeg": -3.1835129261
    },
    {
      "t": -1.099359322,
      "vEgo": 2.7800021172,
      "aEgo": -0.7029505968,
      "brakePressed": false,
      "gasPressed": true,
      "steeringPressed": false,
      "steeringAngleDeg": -3.1828744411
    }
  ],
  "last_vehicle_row": {
    "t": 9.899991507,
    "vEgo": 13.495457649230955,
    "aEgo": 0.7506719827651978,
    "brakePressed": false,
    "gasPressed": true,
    "steeringPressed": true,
    "steeringAngleDeg": 3.094726324081421
  },
  "pre10_min_accel": {
    "t": -2.900243541,
    "vEgo": 5.66337776184082,
    "aEgo": -2.002972364425659,
    "brakePressed": false,
    "gasPressed": false
  },
  "pre10_max_accel": {
    "t": -0.099508854,
    "vEgo": 2.8619637489318848,
    "aEgo": 0.3692189753055572,
    "brakePressed": false,
    "gasPressed": true
  },
  "post5_min_accel": {
    "t": 3.000075207,
    "vEgo": 3.536984920501709,
    "aEgo": -2.2327911853790283,
    "brakePressed": true,
    "gasPressed": false
  },
  "post5_max_accel": {
    "t": 0.500077448,
    "vEgo": 3.538747310638428,
    "aEgo": 1.3356956243515017,
    "brakePressed": false,
    "gasPressed": true
  },
  "post_full_min_accel": {
    "t": 3.000075207,
    "vEgo": 3.536984920501709,
    "aEgo": -2.2327911853790283,
    "brakePressed": true,
    "gasPressed": false
  },
  "post_full_max_accel": {
    "t": 7.700627289,
    "vEgo": 9.75036334991455,
    "aEgo": 3.3018929958343506,
    "brakePressed": false,
    "gasPressed": true
  },
  "late_radar_source_check": {
    "source_sha256": "1b7ff58b87dba9622026d3e9a41ba36fceaf80467a9876569d47c7711ce1f878",
    "source_range_s": [
      -9.762248955,
      9.989227236
    ],
    "late_rows": 20,
    "speed_match_backward_tolerance_s": 0.16025583360000015,
    "note": "预制radar_native.csv仅覆盖约后5秒；此处另查源radarState后5秒，配对规则沿用prepare_cases.attach，不改事实文件。TTC不依赖车速配对。",
    "valid_ratio": 0.4,
    "ttc_s": null,
    "thw_moving_s": {
      "t": 7.488951508,
      "leadOne.dRel": 16.1675815582,
      "leadOne.vRel": 3.8146362305,
      "leadOne.yRel": -4.9624471664,
      "vEgo": 8.8231105804,
      "thw_moving_s": 1.8324128901
    },
    "ttc_under3_count": 0,
    "moving_thw_under08_count": 0
  }
}