{
  "case": 215,
  "raw_zero_count": 0,
  "raw_speed_min_kmh": 7.048565483093262,
  "radar_threshold_hits": [
    {
      "t": 3.402559854,
      "lead_valid": 1.0,
      "distance_m": 8.75,
      "relative_speed_mps": -3.0,
      "lead_y_m": -1.8125,
      "ttc_s": 2.9166666667,
      "thw_s": 1.8041760742,
      "thw_moving_s": null
    },
    {
      "t": 3.653497703,
      "lead_valid": 1.0,
      "distance_m": 8.0,
      "relative_speed_mps": -2.6875,
      "lead_y_m": -1.625,
      "ttc_s": 2.976744186,
      "thw_s": 1.7725430832,
      "thw_moving_s": null
    },
    {
      "t": 3.902966642,
      "lead_valid": 1.0,
      "distance_m": 7.5,
      "relative_speed_mps": -2.59375,
      "lead_y_m": -1.4375,
      "ttc_s": 2.8915662651,
      "thw_s": 1.8709212056,
      "thw_moving_s": null
    }
  ],
  "radar_hit_vehicle": [
    {
      "t": 3.399690314,
      "vEgo": 4.8498592377,
      "vEgoRaw": 4.8610720634,
      "aEgo": -1.6918094158,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "brake": 0.28125,
      "gas": 0.0,
      "steeringPressed": true,
      "steeringAngleDeg": -55.4000015259,
      "cruiseState.enabled": false
    },
    {
      "t": 3.700564366,
      "vEgo": 4.3349404335,
      "vEgoRaw": 4.3615169525,
      "aEgo": -1.7453596592,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "brake": 0.25,
      "gas": 0.0,
      "steeringPressed": true,
      "steeringAngleDeg": -62.4000015259,
      "cruiseState.enabled": false
    },
    {
      "t": 3.899604358,
      "vEgo": 4.0087203979,
      "vEgoRaw": 4.0243330002,
      "aEgo": -1.69031322,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "brake": 0.546875,
      "gas": 0.0,
      "steeringPressed": true,
      "steeringAngleDeg": -62.5999984741,
      "cruiseState.enabled": false
    }
  ],
  "selected_vehicle": [
    {
      "t": -1.500127631,
      "vEgo": 11.1150531769,
      "vEgoRaw": 11.1979160309,
      "aEgo": -0.4330788255,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "brake": -0.015625,
      "gas": 0.0,
      "steeringPressed": false,
      "steeringAngleDeg": -11.5,
      "cruiseState.enabled": true
    },
    {
      "t": -1.300044654,
      "vEgo": 11.0215387344,
      "vEgoRaw": 11.0256948471,
      "aEgo": -0.3948714137,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "brake": -0.015625,
      "gas": 0.0,
      "steeringPressed": true,
      "steeringAngleDeg": -14.8000001907,
      "cruiseState.enabled": true
    },
    {
      "t": 0.0,
      "vEgo": 10.3340082169,
      "vEgoRaw": 10.3347225189,
      "aEgo": -0.6276689768,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "brake": 0.625,
      "gas": 0.0,
      "steeringPressed": true,
      "steeringAngleDeg": -33.5,
      "cruiseState.enabled": false
    },
    {
      "t": 2.800138492,
      "vEgo": 5.9280519485,
      "vEgoRaw": 5.9595685005,
      "aEgo": -2.2319493294,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "brake": 0.6875,
      "gas": 0.0,
      "steeringPressed": true,
      "steeringAngleDeg": -49.2999992371,
      "cruiseState.enabled": false
    },
    {
      "t": 3.399690314,
      "vEgo": 4.8498592377,
      "vEgoRaw": 4.8610720634,
      "aEgo": -1.6918094158,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "brake": 0.28125,
      "gas": 0.0,
      "steeringPressed": true,
      "steeringAngleDeg": -55.4000015259,
      "cruiseState.enabled": false
    },
    {
      "t": 3.899604358,
      "vEgo": 4.0087203979,
      "vEgoRaw": 4.0243330002,
      "aEgo": -1.69031322,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "brake": 0.546875,
      "gas": 0.0,
      "steeringPressed": true,
      "steeringAngleDeg": -62.5999984741,
      "cruiseState.enabled": false
    },
    {
      "t": 5.700219502,
      "vEgo": 1.9478346109,
      "vEgoRaw": 1.9579348564,
      "aEgo": -0.4226996303,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "brake": -0.015625,
      "gas": 0.0,
      "steeringPressed": true,
      "steeringAngleDeg": -67.5999984741,
      "cruiseState.enabled": false
    },
    {
      "t": 6.199648199,
      "vEgo": 2.0551810265,
      "vEgoRaw": 2.0536584854,
      "aEgo": 0.2764035463,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": true,
      "brake": -0.015625,
      "gas": 6.0,
      "steeringPressed": true,
      "steeringAngleDeg": -67.5999984741,
      "cruiseState.enabled": false
    },
    {
      "t": 9.999854902,
      "vEgo": 7.8023180962,
      "vEgoRaw": 7.7916669846,
      "aEgo": 1.6270718575,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": true,
      "brake": -0.015625,
      "gas": 57.0,
      "steeringPressed": false,
      "steeringAngleDeg": 1.6000000238,
      "cruiseState.enabled": false
    }
  ],
  "selected_control": [
    {
      "t": -1.496478274,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": -0.6600620747
    },
    {
      "t": -1.296334153,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": -0.6774098873
    },
    {
      "t": 0.003358013,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 2.803513536,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 3.402965986,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 3.902806803,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 5.703454238,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 6.202925381,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 9.902928648,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    }
  ],
  "post_curve_comparison": {
    "rows": 100,
    "equal": 100,
    "both_zero": 0,
    "samples": [
      {
        "t": 0.003211872,
        "curvature": 0.0105914781,
        "desiredCurvature": 0.0105914781,
        "delta": 0.0
      },
      {
        "t": 5.003387217,
        "curvature": 0.023666013,
        "desiredCurvature": 0.023666013,
        "delta": 0.0
      },
      {
        "t": 9.902787923,
        "curvature": -0.0005786463,
        "desiredCurvature": -0.0005786463,
        "delta": 0.0
      }
    ]
  },
  "note": "曲率差为零不等于两路曲率为零，不能视为退出后自动完美跟踪。后低TTC出现在制动后低速阶段。"
}