{
  "case": 224,
  "raw_zero_count": 0,
  "raw_speed_min_kmh": 3.664062309265137,
  "coverage": {
    "vehicle": [
      -9.989674523,
      9.999775968,
      2000
    ],
    "control": [
      -9.999972321,
      9.999940916,
      2001
    ],
    "state": [
      -9.989979002,
      9.99951347,
      2000
    ]
  },
  "vehicle": [
    {
      "t": -3.029264905,
      "vEgo": 2.5790200233,
      "vEgoRaw": 2.586805582,
      "aEgo": -1.6612972021,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "steeringPressed": false,
      "steeringAngleDeg": 84.5,
      "cruiseState.enabled": true
    },
    {
      "t": -2.9498821,
      "vEgo": 2.4424803257,
      "vEgoRaw": 2.4565973282,
      "aEgo": -1.6841224432,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "steeringPressed": false,
      "steeringAngleDeg": 81.8000030518,
      "cruiseState.enabled": true
    },
    {
      "t": -1.208584892,
      "vEgo": 1.1793161631,
      "vEgoRaw": 1.187065959,
      "aEgo": -0.1281364709,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "steeringPressed": false,
      "steeringAngleDeg": 67.3000030518,
      "cruiseState.enabled": true
    },
    {
      "t": -1.000145085,
      "vEgo": 1.2406713963,
      "vEgoRaw": 1.25,
      "aEgo": 0.3197893202,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "steeringPressed": false,
      "steeringAngleDeg": 82.6999969482,
      "cruiseState.enabled": true
    },
    {
      "t": -0.100100221,
      "vEgo": 2.5670540333,
      "vEgoRaw": 2.5434026718,
      "aEgo": 1.8030033112,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "steeringPressed": false,
      "steeringAngleDeg": 116.0999984741,
      "cruiseState.enabled": true
    },
    {
      "t": -0.047919774,
      "vEgo": 2.649548769,
      "vEgoRaw": 2.628038168,
      "aEgo": 1.7420759201,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "steeringPressed": true,
      "steeringAngleDeg": 123.0,
      "cruiseState.enabled": true
    },
    {
      "t": -0.020287314,
      "vEgo": 2.6972019672,
      "vEgoRaw": 2.6692707539,
      "aEgo": 1.7006899118,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "steeringPressed": true,
      "steeringAngleDeg": 128.3999938965,
      "cruiseState.enabled": true
    },
    {
      "t": 0.0,
      "vEgo": 2.7244620323,
      "vEgoRaw": 2.6931424141,
      "aEgo": 1.6393535137,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "steeringPressed": true,
      "steeringAngleDeg": 132.5,
      "cruiseState.enabled": false
    },
    {
      "t": 0.811523376,
      "vEgo": 2.2793095112,
      "vEgoRaw": 2.2916667461,
      "aEgo": -1.4975702763,
      "standstill": false,
      "brakePressed": true,
      "gasPressed": false,
      "steeringPressed": true,
      "steeringAngleDeg": 293.5,
      "cruiseState.enabled": false
    },
    {
      "t": 1.461425785,
      "vEgo": 1.5552607775,
      "vEgoRaw": 1.5690103769,
      "aEgo": -0.9594175816,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "steeringPressed": true,
      "steeringAngleDeg": 361.799987793,
      "cruiseState.enabled": false
    },
    {
      "t": 2.411400994,
      "vEgo": 1.004837513,
      "vEgoRaw": 1.019965291,
      "aEgo": -0.2445134968,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": true,
      "steeringPressed": false,
      "steeringAngleDeg": 386.8999938965,
      "cruiseState.enabled": false
    },
    {
      "t": 8.322141171,
      "vEgo": 7.0962367058,
      "vEgoRaw": 7.1028647423,
      "aEgo": -0.0203077402,
      "standstill": false,
      "brakePressed": false,
      "gasPressed": false,
      "steeringPressed": false,
      "steeringAngleDeg": 12.1999998093,
      "cruiseState.enabled": false
    }
  ],
  "control": [
    {
      "t": -3.029097925,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": -1.5628458261
    },
    {
      "t": -2.949720746,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": -1.0626035929
    },
    {
      "t": -1.208371039,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": 1.2405436039
    },
    {
      "t": -0.999980815,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": 1.7920211554
    },
    {
      "t": -0.099903659,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": 1.7169786692
    },
    {
      "t": -0.047715608,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": 1.729139328
    },
    {
      "t": -0.020062522,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 0.000211823,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 0.811721918,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 1.461658545,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 2.411604692,
      "enabled": false,
      "latActive": false,
      "longActive": false,
      "actuators.accel": 0.0
    },
    {
      "t": 8.322354295,
      "enabled": true,
      "latActive": true,
      "longActive": true,
      "actuators.accel": 1.0716490746
    }
  ],
  "state_end": [
    {
      "t": 9.970089552,
      "enabled": true,
      "active": true
    },
    {
      "t": 9.979821154,
      "enabled": true,
      "active": true
    },
    {
      "t": 9.990242754,
      "enabled": true,
      "active": true
    },
    {
      "t": 9.99951347,
      "enabled": true,
      "active": true
    }
  ],
  "peak_before_first_force_s": 0.052535759,
  "peak": [
    {
      "t": -0.100455533,
      "enabled": true,
      "curvature": -0.0449734405,
      "desiredCurvature": -0.0813296661,
      "delta": 0.0363562256
    }
  ],
  "note": "曲率峰仅早于首次施力约0.053秒，不能作为稳健长提前量。辅助先减速后发出正加速度请求，人工脚刹之后取消。"
}