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], "selected_control": [ { "t": -7.085910205, "enabled": true, "latActive": true, "longActive": false, "actuators.accel": 0.0 }, { "t": -6.785526612, "enabled": true, "latActive": true, "longActive": false, "actuators.accel": 0.0 }, { "t": -4.485888956, "enabled": true, "latActive": true, "longActive": false, "actuators.accel": 0.0 }, { "t": -1.385509479, "enabled": true, "latActive": true, "longActive": true, "actuators.accel": 1.0 }, { "t": -1.286094635, "enabled": true, "latActive": true, "longActive": true, "actuators.accel": 0.1387744099 }, { "t": -0.685846197, "enabled": true, "latActive": true, "longActive": true, "actuators.accel": 0.0639138073 }, { "t": 0.016282292, "enabled": false, "latActive": false, "longActive": false, "actuators.accel": 0.0 }, { "t": 0.414200261, "enabled": false, "latActive": false, "longActive": false, "actuators.accel": 0.0 }, { "t": 1.214126667, "enabled": false, "latActive": false, "longActive": false, "actuators.accel": 0.0 }, { "t": 1.812978333, "enabled": false, "latActive": false, "longActive": false, "actuators.accel": 0.0 }, { "t": 2.213815729, "enabled": false, "latActive": false, "longActive": false, "actuators.accel": 0.0 }, { "t": 2.51351104, "enabled": false, "latActive": false, "longActive": false, "actuators.accel": 0.0 }, { "t": 2.613525156, "enabled": false, "latActive": false, "longActive": false, "actuators.accel": 0.0 }, { "t": 4.613319269, "enabled": true, "latActive": true, "longActive": false, "actuators.accel": 0.0 }, { "t": 4.714317654, "enabled": true, "latActive": true, "longActive": false, "actuators.accel": 0.0 }, { "t": 7.014357132, "enabled": true, "latActive": true, "longActive": false, "actuators.accel": 0.0 }, { "t": 9.91424708, "enabled": true, "latActive": true, "longActive": false, "actuators.accel": 0.0 } ], "controls_state_edges": { "enabled": [ { "t": -9.985571455, "enabled": false } ], "active": [ { "t": -9.985571455, "active": false } ] }, "valid_radar_records": [ { "t": 1.863707291, "lead_valid": 1.0, "distance_m": 98.2627182007, "relative_speed_mps": -1.4458866119, "lead_y_m": 0.7385253906, "ttc_s": 67.9601826238, "thw_s": 5.0354434161, "thw_moving_s": 5.0354434161 } ], "note": "左前方SUV驶过前方再进入右侧同向车道；仅一个雷达有效点不能代表完整侧向冲突。未核路权、灯色或标定距离，不能给出碰撞确定性。" }