{
  "case": 189,
  "raw_zero_runs": [
    {
      "first": 0.399996069,
      "last": 0.999779962,
      "rows": 7
    }
  ],
  "control_unique": {
    "enabled": [
      true,
      false
    ],
    "latActive": [
      false,
      true
    ],
    "longActive": [
      true,
      false
    ],
    "actuators.accel": [
      1.5,
      -2.0,
      -1.980197787284851,
      -1.8238588571548464,
      -1.539146900177002,
      -1.307193636894226,
      -1.220824122428894,
      -0.9971495270729064,
      -0.7644200921058655,
      -0.6547276973724365,
      -0.6013428568840027,
      -0.5190034508705139,
      -0.575003445148468,
      -0.6550034284591675,
      -0.7350034713745117,
      -0.8150034546852112,
      -0.8950034379959106,
      -0.9750034809112548,
      0.0
    ]
  },
  "selected_vehicle": [
    {
      "t": -9.901019413,
      "vEgo": 0.1233856976,
      "vEgoRaw": 0.1027777791,
      "aEgo": -0.2263271511,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.1875,
      "steeringAngleDeg": 4.1999998093,
      "steeringPressed": false,
      "cruiseState.enabled": true
    },
    {
      "t": -8.000740085,
      "vEgo": 3.2488005161,
      "vEgoRaw": 3.2246911526,
      "aEgo": 1.6378568411,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.015625,
      "steeringAngleDeg": 0.8999999762,
      "steeringPressed": false,
      "cruiseState.enabled": true
    },
    {
      "t": -6.600771577,
      "vEgo": 5.5767498016,
      "vEgoRaw": 5.5648159981,
      "aEgo": 2.2005443573,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.015625,
      "steeringAngleDeg": -5.6999998093,
      "steeringPressed": false,
      "cruiseState.enabled": true
    },
    {
      "t": -4.200157369,
      "vEgo": 8.6236667633,
      "vEgoRaw": 8.6083335876,
      "aEgo": -0.5979815722,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.765625,
      "steeringAngleDeg": 5.0999999046,
      "steeringPressed": false,
      "cruiseState.enabled": true
    },
    {
      "t": -3.00107194,
      "vEgo": 5.7799696922,
      "vEgoRaw": 5.8138270378,
      "aEgo": -3.1197111607,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 1.984375,
      "steeringAngleDeg": 4.9000000954,
      "steeringPressed": false,
      "cruiseState.enabled": true
    },
    {
      "t": -2.101167246,
      "vEgo": 3.309292078,
      "vEgoRaw": 3.3236701488,
      "aEgo": -2.7503247261,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 1.859375,
      "steeringAngleDeg": -0.6999999881,
      "steeringPressed": false,
      "cruiseState.enabled": true
    },
    {
      "t": -1.600771069,
      "vEgo": 1.9180984497,
      "vEgoRaw": 2.077009201,
      "aEgo": -3.2928943634,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 1.828125,
      "steeringAngleDeg": -1.5,
      "steeringPressed": false,
      "cruiseState.enabled": true
    },
    {
      "t": -0.699972417,
      "vEgo": 0.4930616915,
      "vEgoRaw": 0.5,
      "aEgo": -0.8500654697,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.953125,
      "steeringAngleDeg": -0.6000000238,
      "steeringPressed": false,
      "cruiseState.enabled": true
    },
    {
      "t": -0.400685546,
      "vEgo": 0.2903581262,
      "vEgoRaw": 0.3027777672,
      "aEgo": -0.7000603676,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.703125,
      "steeringAngleDeg": -0.6000000238,
      "steeringPressed": false,
      "cruiseState.enabled": true
    },
    {
      "t": 0.0,
      "vEgo": 0.1484404504,
      "vEgoRaw": 0.1555555612,
      "aEgo": -0.4364491105,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.890625,
      "steeringAngleDeg": -0.6000000238,
      "steeringPressed": false,
      "cruiseState.enabled": false
    },
    {
      "t": 0.399996069,
      "vEgo": -0.002797019,
      "vEgoRaw": 0.0,
      "aEgo": -0.5296503305,
      "standstill": true,
      "brakePressed": true,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.828125,
      "steeringAngleDeg": -0.6000000238,
      "steeringPressed": false,
      "cruiseState.enabled": false
    },
    {
      "t": 0.599236315,
      "vEgo": -0.0081644934,
      "vEgoRaw": 0.0,
      "aEgo": -0.0230255462,
      "standstill": true,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.3125,
      "steeringAngleDeg": -0.6000000238,
      "steeringPressed": false,
      "cruiseState.enabled": false
    },
    {
      "t": 0.900574346,
      "vEgo": 0.0006369347,
      "vEgoRaw": 0.0,
      "aEgo": 0.0020610257,
      "standstill": true,
      "brakePressed": false,
      "gasPressed": true,
      "gas": 14.0,
      "brake": 0.3125,
      "steeringAngleDeg": -0.400000006,
      "steeringPressed": false,
      "cruiseState.enabled": false
    },
    {
      "t": 1.100175982,
      "vEgo": 0.0708886012,
      "vEgoRaw": 0.0666666701,
      "aEgo": 0.4311465621,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": true,
      "gas": 37.0,
      "brake": 0.203125,
      "steeringAngleDeg": 1.0,
      "steeringPressed": false,
      "cruiseState.enabled": false
    },
    {
      "t": 3.099613291,
      "vEgo": 3.5657877922,
      "vEgoRaw": 3.5452802181,
      "aEgo": 2.3518190384,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": true,
      "gas": 77.0,
      "brake": 0.015625,
      "steeringAngleDeg": 3.2999999523,
      "steeringPressed": false,
      "cruiseState.enabled": false
    },
    {
      "t": 5.499628319,
      "vEgo": 6.5650033951,
      "vEgoRaw": 6.5749998093,
      "aEgo": 0.141841501,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.015625,
      "steeringAngleDeg": 1.5,
      "steeringPressed": false,
      "cruiseState.enabled": false
    },
    {
      "t": 7.699320682,
      "vEgo": 6.571890831,
      "vEgoRaw": 6.5798611641,
      "aEgo": -0.1295244247,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.015625,
      "steeringAngleDeg": 9.3999996185,
      "steeringPressed": true,
      "cruiseState.enabled": false
    },
    {
      "t": 8.699208746,
      "vEgo": 6.3144421577,
      "vEgoRaw": 6.3048610687,
      "aEgo": -0.5944580436,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.015625,
      "steeringAngleDeg": 26.0,
      "steeringPressed": true,
      "cruiseState.enabled": false
    },
    {
      "t": 9.698704628,
      "vEgo": 5.8679246902,
      "vEgoRaw": 5.8749866486,
      "aEgo": -0.5530104637,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.015625,
      "steeringAngleDeg": 68.4000015259,
      "steeringPressed": true,
      "cruiseState.enabled": false
    },
    {
      "t": 9.999198112,
      "vEgo": 5.7591133118,
      "vEgoRaw": 5.7519311905,
      "aEgo": -0.2818663418,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "gas": 0.0,
      "brake": 0.015625,
      "steeringAngleDeg": 69.0999984741,
      "steeringPressed": true,
      "cruiseState.enabled": false
    }
  ],
  "selected_control": [
    {
      "t": -9.906720534,
      "enabled": true,
      "latActive": false,
      "longActive": true,
      "actuators.accel": 1.5
    },
    {
      "t": -8.007462982,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": 1.5
    },
    {
      "t": -6.607195094,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": 1.5
    },
    {
      "t": -4.203850454,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": -2.0
    },
    {
      "t": -3.004936317,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": -2.0
    },
    {
      "t": -2.105739342,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": -2.0
    },
    {
      "t": -1.60717073,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": -1.9801977873
    },
    {
      "t": -0.705763913,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": -0.5190034509
    },
    {
      "t": -0.40664354,
      "enabled": true,
      "latActive": false,
      "longActive": true,
      "actuators.accel": -0.7350034714
    },
    {
      "t": -0.006779212,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 0.392889065,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 0.59347498,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 0.892705017,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 1.093459614,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 3.093171225,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 5.493937423,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 7.693247556,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 8.693156643,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 9.692883256,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 9.992907335,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    }
  ],
  "note": "首次脚刹之前已出现最强减速；原始零速和后段给油再刹分开描述，不能将全过程写成一次人工紧急刹停。"
}