MehdiJmlkh/DriveLM · Datasets at Hugging Face

scene_token stringclasses 552 values	frame_token stringlengths 32 32	scene_description stringclasses 523 values	task stringclasses 3 values	question stringclasses 448 values	answer stringlengths 3 1.77k	nuscenes_index int64 0 3.24k
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the front right of the ego car?	There are many barriers and one construction vehicle to the front right of the ego car.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the front left of the ego car?	There is one truck and one barrier to the front left of the ego car.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the truck that is to the front left of the ego car?	One truck is moving.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the back left of the ego car?	There are two barriers, many trucks, two trailers, and one car to the back left of the ego car.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the trucks that are to the back left of the ego car?	Many trucks are parked.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the construction vehicle that is to the front right of the ego car?	The construction vehicle to the front right of the ego car is parked.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the front of the ego car?	There are many obstacles in front of the ego car.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the trailers that are to the back left of the ego car?	Two trailers are parked.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the back of the ego car?	There are two cars, one truck, and one barrier to the back of the ego car.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the cars that are to the back of the ego car?	Two cars are moving.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the car that is to the back left of the ego car?	One car is moving.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the truck that is to the back of the ego car?	One truck is parked.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the back right of the ego car?	There are two trailers to the back right of the ego car.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the trailers that are to the back right of the ego car?	One of the trailers is parked, and one is moving.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there barriers to the front right of the ego car?	Yes.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there standing pedestrians to the front right of the ego car?	No.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there parked trailers to the front right of the ego car?	No.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there barriers to the front of the ego car?	Yes.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there parked trucks to the back left of the ego car?	Yes.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there parked trailers to the back right of the ego car?	Yes.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there barriers to the front left of the ego car?	Yes.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there parked construction vehicles to the front right of the ego car?	Yes.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Please describe the current scene.	There are two moving cars behind the ego car and two barriers in front of it.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Is there any traffic element in the front view?	Yes, there are some traffic elements in the front view.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Identify all the traffic elements in the front view, categorize them, determine their status, and predict the bounding box around each one. The output should be a list formatted as (c, s, x1, y1, x2, y2), where c represents the category, s denotes the status, and x1, y1, x2, y2 are the offsets of the top-left and bottom-right corners of the box relative to the center point.	There are two traffic elements in the front view. The information of these traffic elements is [(traffic light, green, 674.86, 0.14, 723.33, 109.18), (traffic light, green, 1018.98, 7.19, 1071.77, 125.6)].	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	What is the traffic signal that the ego vehicle should pay attention to?	Green light.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	What is the target action of the ego vehicle?	Go straight.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	In this scenario, what are safe actions to take for the ego vehicle?	Keep going at the same speed, decelerate gradually without braking.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	In this scenario, what are dangerous actions to take for the ego vehicle?	Back up, turn right.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	What will affect driving judgment in this scene?	Water droplets on the glass will affect visibility.	0
f0f120e4d4b0441da90ec53b16ee169d	4a0798f849ca477ab18009c3a20b7df2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	behavior	Predict the behavior of the ego vehicle.	The ego vehicle is going straight. The ego vehicle is driving fast.	0
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the back left of the ego car?	There are many trucks, one car, two barriers, and one traffic cone to the back left of the ego car.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the trucks that are to the back left of the ego car?	Many trucks are parked, and one is moving.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the front left of the ego car?	There is one car, three barriers, one trailer, and three trucks to the front left of the ego car.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the car that is to the front left of the ego car?	One car is parked.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the car that is to the back left of the ego car?	One car is parked.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the back of the ego car?	There is one pedestrian, one bus, and two cars behind the ego car.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the pedestrian that is to the back of the ego car?	The pedestrian to the back of the ego car is moving.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the front of the ego car?	There is one barrier in front of the ego car.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the trailer that is to the front left of the ego car?	The trailer to the front left of the ego car is parked.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the bus that is to the back of the ego car?	One bus is stopped.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the cars that are to the back of the ego car?	One of the cars is parked, and the other is moving.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the trucks that are to the front left of the ego car?	Three trucks are parked.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there moving cars to the back right of the ego car?	No.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there barriers to the front right of the ego car?	No.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there motorcycles without riders to the back of the ego car?	No.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there traffic cones to the front left of the ego car?	No.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there barriers to the front of the ego car?	Yes.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there bicycles with riders to the front left of the ego car?	No.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there parked cars to the front left of the ego car?	Yes.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there parked trailers to the front left of the ego car?	Yes.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there parked trucks to the front left of the ego car?	Yes.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there barriers to the front left of the ego car?	Yes.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there traffic cones to the back left of the ego car?	Yes.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there parked trucks to the back left of the ego car?	Yes.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there barriers to the back left of the ego car?	Yes.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Please describe the current scene.	There is one moving car behind the ego car, one parked car behind the ego car, and one stopped bus behind the ego car.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Is there any traffic element in the front view?	Yes, there are traffic elements in the front view.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Identify all the traffic elements in the front view, categorize them, determine their status, and predict the bounding box around each one. The output should be a list formatted as (c, s, x1, y1, x2, y2), where c represents the category, s denotes the status, and x1, y1, x2, y2 are the offsets of the top-left and bottom-right corners of the box relative to the center point.	There are many traffic elements in the front view. The information of these traffic elements is [(traffic light, green, 13.19, 382.76, 39.21, 427.96), (traffic light, unknown, 255.86, 274.14, 279.25, 324.67), (traffic light, unknown, 388.89, 266.58, 413.72, 318.86), (traffic light, green, 713.29, 306.48, 731.57, 345.14), (traffic light, green, 826.91, 313.56, 844.49, 351.52), (traffic light, unknown, 399.02, 400.97, 412.73, 429.78)].	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	What is the traffic signal that the ego vehicle should pay attention to?	Green light.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	What is the target action of the ego vehicle?	Go straight.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	In this scenario, what are safe actions to take for the ego vehicle?	Keep going at the same speed, decelerate gradually without braking.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	In this scenario, what are dangerous actions to take for the ego vehicle?	Backing up, turning left, turning right, and changing to the right lane are dangerous actions for the ego vehicle in this scenario.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	Will water droplets on the glass affect the driver's line of sight?	Yes, water droplets on the glass can affect the driver's line of sight. Slow down when the road is slippery on rainy days.	1
f0f120e4d4b0441da90ec53b16ee169d	ffd1bdf020d145759224c629b501d2b2	The ego vehicle proceeds through the intersection, continuing along the current roadway.	behavior	Predict the behavior of the ego vehicle.	The ego vehicle is going straight. The ego vehicle is driving slowly.	1
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the back left of the ego car?	There are many trucks, two cars, and many barriers to the back left of the ego car.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the trucks that are to the back left of the ego car?	Many trucks are parked, and one is moving.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the front of the ego car?	There are three barriers in front of the ego car.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the cars that are to the back left of the ego car?	Two cars are parked.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the back of the ego car?	There is one pedestrian, one bus, and two cars behind the ego car.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the pedestrian that is to the back of the ego car?	The pedestrian to the back of the ego car is moving.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the front left of the ego car?	There is one barrier and two trailers to the front left of the ego car.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the trailers that are to the front left of the ego car?	Two trailers are parked.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the bus that is to the back of the ego car?	One bus is stopped.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the cars that are to the back of the ego car?	Two cars are moving.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the front right of the ego car?	There are two trailers to the front right of the ego car.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the trailers that are to the front right of the ego car?	One of the trailers is parked and one is moving.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there moving trailers to the front of the ego car?	No.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there stopped buses to the front left of the ego car?	No.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there stopped buses to the front of the ego car?	No.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there parked cars to the front left of the ego car?	No.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there parked cars to the front of the ego car?	No.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there bicycles without riders to the front left of the ego car?	No.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there barriers to the front left of the ego car?	Yes.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there moving cars to the back of the ego car?	Yes.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there parked cars to the back left of the ego car?	Yes.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Are there moving trucks to the back left of the ego car?	Yes.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Please describe the current scene.	There are two moving cars behind the ego car and one stopped bus behind the ego car.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Is there any traffic element in the front view?	Yes, there are traffic elements in the front view.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	Identify all the traffic elements in the front view, categorize them, determine their status, and predict the bounding box around each one. The output should be a list formatted as (c, s, x1, y1, x2, y2), where c represents the category, s denotes the status, and x1, y1, x2, y2 are the offsets of the top-left and bottom-right corners of the box relative to the center point.	There are many traffic elements in the front view. The information of these traffic elements is [(traffic light, unknown, 158.81, 207.08, 188.41, 267.63), (traffic light, unknown, 320.87, 197.09, 349.75, 258.41), (traffic light, green, 722.29, 256.69, 742.39, 300.29), (traffic light, green, 855.73, 262.25, 876.6, 307.73), (traffic light, unknown, 365.1, 367.54, 380.95, 400.24)].	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	What is the traffic signal that the ego vehicle should pay attention to?	Green light.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	What is the target action of the ego vehicle?	Go straight.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	In this scenario, what are safe actions to take for the ego vehicle?	Keep going at the same speed and brake suddenly.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	planning	In this scenario, what are dangerous actions to take for the ego vehicle?	Back up, turn right.	2
f0f120e4d4b0441da90ec53b16ee169d	d9075c2a5f864a2b8abf41e703f4cf1c	The ego vehicle proceeds through the intersection, continuing along the current roadway.	behavior	Predict the behavior of the ego vehicle.	The ego vehicle is going straight. The ego vehicle is driving slowly.	2
f0f120e4d4b0441da90ec53b16ee169d	dfb8d8959b9944d69dcec6d05e419f04	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the front right of the ego car?	There are many barriers and one construction vehicle to the front right of the ego car.	3
f0f120e4d4b0441da90ec53b16ee169d	dfb8d8959b9944d69dcec6d05e419f04	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the front left of the ego car?	There are many barriers to the front left of the ego car.	3
f0f120e4d4b0441da90ec53b16ee169d	dfb8d8959b9944d69dcec6d05e419f04	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the back of the ego car?	There are three barriers, many trucks, and one car to the back of the ego car.	3
f0f120e4d4b0441da90ec53b16ee169d	dfb8d8959b9944d69dcec6d05e419f04	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What are objects to the back left of the ego car?	There are many trucks, one barrier, two trailers, and two cars to the back left of the ego car.	3
f0f120e4d4b0441da90ec53b16ee169d	dfb8d8959b9944d69dcec6d05e419f04	The ego vehicle proceeds through the intersection, continuing along the current roadway.	perception	What is the status of the trucks that are to the back left of the ego car?	Many trucks are parked, and two are moving.	3

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the front right of the ego car?

There are many barriers and one construction vehicle to the front right of the ego car.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the front left of the ego car?

There is one truck and one barrier to the front left of the ego car.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the truck that is to the front left of the ego car?

One truck is moving.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the back left of the ego car?

There are two barriers, many trucks, two trailers, and one car to the back left of the ego car.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the trucks that are to the back left of the ego car?

Many trucks are parked.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the construction vehicle that is to the front right of the ego car?

The construction vehicle to the front right of the ego car is parked.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the front of the ego car?

There are many obstacles in front of the ego car.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the trailers that are to the back left of the ego car?

Two trailers are parked.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the back of the ego car?

There are two cars, one truck, and one barrier to the back of the ego car.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the cars that are to the back of the ego car?

Two cars are moving.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the car that is to the back left of the ego car?

One car is moving.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the truck that is to the back of the ego car?

One truck is parked.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the back right of the ego car?

There are two trailers to the back right of the ego car.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the trailers that are to the back right of the ego car?

One of the trailers is parked, and one is moving.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there barriers to the front right of the ego car?

Yes.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there standing pedestrians to the front right of the ego car?

No.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there parked trailers to the front right of the ego car?

No.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there barriers to the front of the ego car?

Yes.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there parked trucks to the back left of the ego car?

Yes.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there parked trailers to the back right of the ego car?

Yes.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there barriers to the front left of the ego car?

Yes.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there parked construction vehicles to the front right of the ego car?

Yes.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Please describe the current scene.

There are two moving cars behind the ego car and two barriers in front of it.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Is there any traffic element in the front view?

Yes, there are some traffic elements in the front view.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Identify all the traffic elements in the front view, categorize them, determine their status, and predict the bounding box around each one. The output should be a list formatted as (c, s, x1, y1, x2, y2), where c represents the category, s denotes the status, and x1, y1, x2, y2 are the offsets of the top-left and bottom-right corners of the box relative to the center point.

There are two traffic elements in the front view. The information of these traffic elements is [(traffic light, green, 674.86, 0.14, 723.33, 109.18), (traffic light, green, 1018.98, 7.19, 1071.77, 125.6)].

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

What is the traffic signal that the ego vehicle should pay attention to?

Green light.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

What is the target action of the ego vehicle?

Go straight.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

In this scenario, what are safe actions to take for the ego vehicle?

Keep going at the same speed, decelerate gradually without braking.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

In this scenario, what are dangerous actions to take for the ego vehicle?

Back up, turn right.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

What will affect driving judgment in this scene?

Water droplets on the glass will affect visibility.

0

f0f120e4d4b0441da90ec53b16ee169d

4a0798f849ca477ab18009c3a20b7df2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

behavior

Predict the behavior of the ego vehicle.

The ego vehicle is going straight. The ego vehicle is driving fast.

0

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the back left of the ego car?

There are many trucks, one car, two barriers, and one traffic cone to the back left of the ego car.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the trucks that are to the back left of the ego car?

Many trucks are parked, and one is moving.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the front left of the ego car?

There is one car, three barriers, one trailer, and three trucks to the front left of the ego car.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the car that is to the front left of the ego car?

One car is parked.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the car that is to the back left of the ego car?

One car is parked.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the back of the ego car?

There is one pedestrian, one bus, and two cars behind the ego car.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the pedestrian that is to the back of the ego car?

The pedestrian to the back of the ego car is moving.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the front of the ego car?

There is one barrier in front of the ego car.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the trailer that is to the front left of the ego car?

The trailer to the front left of the ego car is parked.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the bus that is to the back of the ego car?

One bus is stopped.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the cars that are to the back of the ego car?

One of the cars is parked, and the other is moving.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the trucks that are to the front left of the ego car?

Three trucks are parked.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there moving cars to the back right of the ego car?

No.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there barriers to the front right of the ego car?

No.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there motorcycles without riders to the back of the ego car?

No.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there traffic cones to the front left of the ego car?

No.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there barriers to the front of the ego car?

Yes.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there bicycles with riders to the front left of the ego car?

No.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there parked cars to the front left of the ego car?

Yes.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there parked trailers to the front left of the ego car?

Yes.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there parked trucks to the front left of the ego car?

Yes.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there barriers to the front left of the ego car?

Yes.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there traffic cones to the back left of the ego car?

Yes.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there parked trucks to the back left of the ego car?

Yes.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there barriers to the back left of the ego car?

Yes.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Please describe the current scene.

There is one moving car behind the ego car, one parked car behind the ego car, and one stopped bus behind the ego car.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Is there any traffic element in the front view?

Yes, there are traffic elements in the front view.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Identify all the traffic elements in the front view, categorize them, determine their status, and predict the bounding box around each one. The output should be a list formatted as (c, s, x1, y1, x2, y2), where c represents the category, s denotes the status, and x1, y1, x2, y2 are the offsets of the top-left and bottom-right corners of the box relative to the center point.

There are many traffic elements in the front view. The information of these traffic elements is [(traffic light, green, 13.19, 382.76, 39.21, 427.96), (traffic light, unknown, 255.86, 274.14, 279.25, 324.67), (traffic light, unknown, 388.89, 266.58, 413.72, 318.86), (traffic light, green, 713.29, 306.48, 731.57, 345.14), (traffic light, green, 826.91, 313.56, 844.49, 351.52), (traffic light, unknown, 399.02, 400.97, 412.73, 429.78)].

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

What is the traffic signal that the ego vehicle should pay attention to?

Green light.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

What is the target action of the ego vehicle?

Go straight.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

In this scenario, what are safe actions to take for the ego vehicle?

Keep going at the same speed, decelerate gradually without braking.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

In this scenario, what are dangerous actions to take for the ego vehicle?

Backing up, turning left, turning right, and changing to the right lane are dangerous actions for the ego vehicle in this scenario.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

Will water droplets on the glass affect the driver's line of sight?

Yes, water droplets on the glass can affect the driver's line of sight. Slow down when the road is slippery on rainy days.

1

f0f120e4d4b0441da90ec53b16ee169d

ffd1bdf020d145759224c629b501d2b2

The ego vehicle proceeds through the intersection, continuing along the current roadway.

behavior

Predict the behavior of the ego vehicle.

The ego vehicle is going straight. The ego vehicle is driving slowly.

1

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the back left of the ego car?

There are many trucks, two cars, and many barriers to the back left of the ego car.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the trucks that are to the back left of the ego car?

Many trucks are parked, and one is moving.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the front of the ego car?

There are three barriers in front of the ego car.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the cars that are to the back left of the ego car?

Two cars are parked.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the back of the ego car?

There is one pedestrian, one bus, and two cars behind the ego car.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the pedestrian that is to the back of the ego car?

The pedestrian to the back of the ego car is moving.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the front left of the ego car?

There is one barrier and two trailers to the front left of the ego car.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the trailers that are to the front left of the ego car?

Two trailers are parked.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the bus that is to the back of the ego car?

One bus is stopped.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the cars that are to the back of the ego car?

Two cars are moving.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the front right of the ego car?

There are two trailers to the front right of the ego car.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the trailers that are to the front right of the ego car?

One of the trailers is parked and one is moving.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there moving trailers to the front of the ego car?

No.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there stopped buses to the front left of the ego car?

No.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there stopped buses to the front of the ego car?

No.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there parked cars to the front left of the ego car?

No.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there parked cars to the front of the ego car?

No.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there bicycles without riders to the front left of the ego car?

No.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there barriers to the front left of the ego car?

Yes.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there moving cars to the back of the ego car?

Yes.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there parked cars to the back left of the ego car?

Yes.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Are there moving trucks to the back left of the ego car?

Yes.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Please describe the current scene.

There are two moving cars behind the ego car and one stopped bus behind the ego car.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Is there any traffic element in the front view?

Yes, there are traffic elements in the front view.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

Identify all the traffic elements in the front view, categorize them, determine their status, and predict the bounding box around each one. The output should be a list formatted as (c, s, x1, y1, x2, y2), where c represents the category, s denotes the status, and x1, y1, x2, y2 are the offsets of the top-left and bottom-right corners of the box relative to the center point.

There are many traffic elements in the front view. The information of these traffic elements is [(traffic light, unknown, 158.81, 207.08, 188.41, 267.63), (traffic light, unknown, 320.87, 197.09, 349.75, 258.41), (traffic light, green, 722.29, 256.69, 742.39, 300.29), (traffic light, green, 855.73, 262.25, 876.6, 307.73), (traffic light, unknown, 365.1, 367.54, 380.95, 400.24)].

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

What is the traffic signal that the ego vehicle should pay attention to?

Green light.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

What is the target action of the ego vehicle?

Go straight.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

In this scenario, what are safe actions to take for the ego vehicle?

Keep going at the same speed and brake suddenly.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

planning

In this scenario, what are dangerous actions to take for the ego vehicle?

Back up, turn right.

2

f0f120e4d4b0441da90ec53b16ee169d

d9075c2a5f864a2b8abf41e703f4cf1c

The ego vehicle proceeds through the intersection, continuing along the current roadway.

behavior

Predict the behavior of the ego vehicle.

The ego vehicle is going straight. The ego vehicle is driving slowly.

2

f0f120e4d4b0441da90ec53b16ee169d

dfb8d8959b9944d69dcec6d05e419f04

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the front right of the ego car?

There are many barriers and one construction vehicle to the front right of the ego car.

3

f0f120e4d4b0441da90ec53b16ee169d

dfb8d8959b9944d69dcec6d05e419f04

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the front left of the ego car?

There are many barriers to the front left of the ego car.

3

f0f120e4d4b0441da90ec53b16ee169d

dfb8d8959b9944d69dcec6d05e419f04

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the back of the ego car?

There are three barriers, many trucks, and one car to the back of the ego car.

3

f0f120e4d4b0441da90ec53b16ee169d

dfb8d8959b9944d69dcec6d05e419f04

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What are objects to the back left of the ego car?

There are many trucks, one barrier, two trailers, and two cars to the back left of the ego car.

3

f0f120e4d4b0441da90ec53b16ee169d

dfb8d8959b9944d69dcec6d05e419f04

The ego vehicle proceeds through the intersection, continuing along the current roadway.

perception

What is the status of the trucks that are to the back left of the ego car?

Many trucks are parked, and two are moving.

3